Commit | Line | Data |
---|---|---|
79ba119a | 1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
04227dc0 | 3 | import org.usfirst.frc.team3501.robot.Constants; |
4 | ||
5 | import com.ctre.CANTalon; | |
6 | ||
7 | import edu.wpi.first.wpilibj.command.Subsystem; | |
8 | ||
9 | public class Shooter extends Subsystem { | |
079a8cb6 | 10 | private static Shooter shooter; |
04227dc0 | 11 | private final CANTalon flyWheel, indexWheel; |
79ba119a | 12 | |
ad7e6b1e NA |
13 | public static final double DEFAULT_SHOOTING_SPEED = 0; |
14 | public static double CURRENT_SHOOTING_SPEED; | |
15 | ||
16 | public static final double SHOOTING_SPEED_INCREMENT = 0; | |
17 | ||
079a8cb6 | 18 | private Shooter() { |
04227dc0 | 19 | flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL); |
20 | indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL); | |
ad7e6b1e | 21 | |
079a8cb6 | 22 | } |
41dfad94 | 23 | |
04227dc0 | 24 | /** |
25 | * Returns shooter object | |
26 | * | |
27 | * @return Shooter object | |
28 | */ | |
079a8cb6 CZ |
29 | public static Shooter getShooter() { |
30 | if (shooter == null) { | |
31 | shooter = new Shooter(); | |
32 | } | |
33 | return shooter; | |
34 | } | |
41dfad94 | 35 | |
079a8cb6 | 36 | /** |
04227dc0 | 37 | * Sets fly wheel motor value to input. |
38 | * | |
39 | * @param val | |
40 | * motor value from -1 to 1(fastest forward) | |
079a8cb6 | 41 | */ |
04227dc0 | 42 | public void setFlyWheelMotorVal(final double val) { |
43 | flyWheel.set(val); | |
079a8cb6 | 44 | } |
41dfad94 | 45 | |
04227dc0 | 46 | /** |
47 | * Stops fly wheel motor. | |
48 | */ | |
49 | public void stopFlyWheel() { | |
50 | flyWheel.set(0); | |
51 | } | |
41dfad94 | 52 | |
04227dc0 | 53 | /** |
54 | * Sets index wheel motor value to input. | |
55 | * | |
56 | * @param val | |
57 | * motor value from -1 to 1(fastest forward) | |
58 | */ | |
59 | public void setIndexWheelMotorVal(final double val) { | |
60 | indexWheel.set(val); | |
079a8cb6 | 61 | } |
41dfad94 | 62 | |
079a8cb6 | 63 | /** |
04227dc0 | 64 | * Stops index wheel motor. |
079a8cb6 CZ |
65 | */ |
66 | public void stopIndexWheel() { | |
04227dc0 | 67 | indexWheel.set(0); |
079a8cb6 | 68 | } |
41dfad94 | 69 | |
04227dc0 | 70 | @Override |
71 | protected void initDefaultCommand() { | |
079a8cb6 CZ |
72 | |
73 | } | |
79ba119a | 74 | } |