Commit | Line | Data |
---|---|---|
79ba119a | 1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
04227dc0 | 3 | import org.usfirst.frc.team3501.robot.Constants; |
ac77a7b8 | 4 | import org.usfirst.frc.team3501.robot.MathLib; |
268b0048 | 5 | import org.usfirst.frc.team3501.robot.utils.HallEffectSensor; |
04227dc0 | 6 | |
7 | import com.ctre.CANTalon; | |
8 | ||
5ab65eab RR |
9 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
10 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; | |
04227dc0 | 11 | import edu.wpi.first.wpilibj.command.Subsystem; |
12 | ||
13 | public class Shooter extends Subsystem { | |
1782cbad | 14 | public double wheelP = 0.0001, wheelI = 0, wheelD = 0.0004; |
079a8cb6 | 15 | private static Shooter shooter; |
268b0048 | 16 | private static HallEffectSensor hallEffect; |
3a86b1a5 | 17 | private final CANTalon flyWheel1, flyWheel2, indexWheel; |
79ba119a | 18 | |
f625e57a | 19 | private static final double DEFAULT_INDEXING_SPEED = -0.75; |
005d6bf0 | 20 | private static final double DEFAULT_SHOOTING_SPEED = 2800; // rpm |
f625e57a | 21 | private static final double SHOOTING_SPEED_INCREMENT = 25; |
ad7e6b1e | 22 | |
f625e57a | 23 | private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED; |
ad7e6b1e | 24 | |
079a8cb6 | 25 | private Shooter() { |
3a86b1a5 CZ |
26 | flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1); |
27 | flyWheel2 = new CANTalon(Constants.Shooter.FLY_WHEEL2); | |
04227dc0 | 28 | indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL); |
ad7e6b1e | 29 | |
268b0048 | 30 | hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1); |
31 | } | |
32 | ||
04227dc0 | 33 | /** |
34 | * Returns shooter object | |
35 | * | |
36 | * @return Shooter object | |
37 | */ | |
079a8cb6 CZ |
38 | public static Shooter getShooter() { |
39 | if (shooter == null) { | |
40 | shooter = new Shooter(); | |
41 | } | |
42 | return shooter; | |
43 | } | |
41dfad94 | 44 | |
079a8cb6 | 45 | /** |
04227dc0 | 46 | * Sets fly wheel motor value to input. |
47 | * | |
48 | * @param val | |
49 | * motor value from -1 to 1(fastest forward) | |
079a8cb6 | 50 | */ |
ac77a7b8 CZ |
51 | public void setFlyWheelMotorVal(double val) { |
52 | val = MathLib.restrictToRange(val, 0.0, 1.0); | |
3a86b1a5 CZ |
53 | flyWheel1.set(val); |
54 | flyWheel2.set(val); | |
079a8cb6 | 55 | } |
41dfad94 | 56 | |
04227dc0 | 57 | /** |
58 | * Stops fly wheel motor. | |
59 | */ | |
60 | public void stopFlyWheel() { | |
3a86b1a5 CZ |
61 | flyWheel1.set(0); |
62 | flyWheel2.set(0); | |
04227dc0 | 63 | } |
41dfad94 | 64 | |
04227dc0 | 65 | /** |
66 | * Sets index wheel motor value to input. | |
67 | * | |
68 | * @param val | |
69 | * motor value from -1 to 1(fastest forward) | |
70 | */ | |
ac77a7b8 CZ |
71 | public void setIndexWheelMotorVal(double val) { |
72 | val = MathLib.restrictToRange(val, -1.0, 1.0); | |
04227dc0 | 73 | indexWheel.set(val); |
079a8cb6 | 74 | } |
41dfad94 | 75 | |
079a8cb6 | 76 | /** |
04227dc0 | 77 | * Stops index wheel motor. |
079a8cb6 CZ |
78 | */ |
79 | public void stopIndexWheel() { | |
04227dc0 | 80 | indexWheel.set(0); |
079a8cb6 | 81 | } |
41dfad94 | 82 | |
f625e57a CZ |
83 | @Override |
84 | protected void initDefaultCommand() { | |
85 | ||
86 | } | |
87 | ||
88 | public double getShooterRPM() { | |
89 | return hallEffect.getRPM(); | |
09e509d3 NA |
90 | } |
91 | ||
92 | public void setCurrentShootingSpeed(double Value) { | |
f625e57a | 93 | currentShootingSpeed = Value; |
09e509d3 NA |
94 | } |
95 | ||
f625e57a CZ |
96 | public void decrementCurrentShootingSpeed() { |
97 | this.currentShootingSpeed -= this.SHOOTING_SPEED_INCREMENT; | |
98 | } | |
079a8cb6 | 99 | |
f625e57a CZ |
100 | public void incrementCurrentShootingSpeed() { |
101 | this.currentShootingSpeed += this.SHOOTING_SPEED_INCREMENT; | |
079a8cb6 | 102 | } |
381dad77 | 103 | |
f625e57a CZ |
104 | public void resetCurrentShootingSpeed() { |
105 | this.currentShootingSpeed = this.DEFAULT_SHOOTING_SPEED; | |
106 | } | |
107 | ||
108 | public double getCurrentShootingSpeed() { | |
109 | return currentShootingSpeed; | |
110 | } | |
111 | ||
112 | public void reverseIndexWheel() { | |
113 | this.setIndexWheelMotorVal(-DEFAULT_INDEXING_SPEED); | |
114 | } | |
115 | ||
116 | public void runIndexWheel() { | |
117 | this.setIndexWheelMotorVal(DEFAULT_INDEXING_SPEED); | |
381dad77 | 118 | } |
5ab65eab RR |
119 | |
120 | public Value getPistonValue() { | |
121 | return piston.get(); | |
122 | } | |
123 | ||
124 | public void setHighGear() { | |
125 | changeGear(Constants.Shooter.HIGH_GEAR); | |
126 | } | |
127 | ||
128 | public void setLowGear() { | |
129 | changeGear(Constants.Shooter.LOW_GEAR); | |
130 | } | |
131 | ||
132 | private void changeGear(DoubleSolenoid.Value gear) { | |
133 | piston.set(gear); | |
134 | } | |
79ba119a | 135 | } |