challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2
   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 {
  10   private static Shooter shooter;
  11   private final CANTalon flyWheel, indexWheel;
  12
  13   private Shooter() {
  14     flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
  15     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
  16   }
  17
  18   /**
  19    * Returns shooter object
  20    *
  21    * @return Shooter object
  22    */
  23   public static Shooter getShooter() {
  24     if (shooter == null) {
  25       shooter = new Shooter();
  26     }
  27     return shooter;
  28   }
  29
  30   /**
  31    * Sets fly wheel motor value to input.
  32    *
  33    * @param val
  34    *          motor value from -1 to 1(fastest forward)
  35    */
  36   public void setFlyWheelMotorVal(final double val) {
  37     flyWheel.set(val);
  38   }
  39
  40   /**
  41    * Stops fly wheel motor.
  42    */
  43   public void stopFlyWheel() {
  44     flyWheel.set(0);
  45   }
  46
  47   /**
  48    * Sets index wheel motor value to input.
  49    *
  50    * @param val
  51    *          motor value from -1 to 1(fastest forward)
  52    */
  53   public void setIndexWheelMotorVal(final double val) {
  54     indexWheel.set(val);
  55   }
  56
  57   /**
  58    * Stops index wheel motor.
  59    */
  60   public void stopIndexWheel() {
  61     indexWheel.set(0);
  62   }
  63
  64   @Override
  65   protected void initDefaultCommand() {
  66
  67   }
  68 }