1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
5 import com
.ctre
.CANTalon
;
7 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
9 public class Shooter
extends Subsystem
{
10 public double wheelP
= 0, wheelI
= 0, wheelD
= -0;
11 private static Shooter shooter
;
12 private final CANTalon flyWheel
, indexWheel
;
14 public static final double DEFAULT_INDEXING_SPEED
= 0;
15 public static final double DEFAULT_SHOOTING_SPEED
= 0;
16 public static double CURRENT_SHOOTING_SPEED
= DEFAULT_SHOOTING_SPEED
;
18 public static final double SHOOTING_SPEED_INCREMENT
= 0;
21 flyWheel
= new CANTalon(Constants
.Shooter
.FLY_WHEEL
);
22 indexWheel
= new CANTalon(Constants
.Shooter
.INDEX_WHEEL
);
27 * Returns shooter object
29 * @return Shooter object
31 public static Shooter
getShooter() {
32 if (shooter
== null) {
33 shooter
= new Shooter();
39 * Sets fly wheel motor value to input.
42 * motor value from -1 to 1(fastest forward)
44 public void setFlyWheelMotorVal(final double val
) {
49 * Stops fly wheel motor.
51 public void stopFlyWheel() {
56 * Sets index wheel motor value to input.
59 * motor value from -1 to 1(fastest forward)
61 public void setIndexWheelMotorVal(final double val
) {
66 * Stops index wheel motor.
68 public void stopIndexWheel() {
73 protected void initDefaultCommand() {
77 public double getShooterSpeed() {