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 import org.usfirst.frc.team3501.robot.MathLib;
   5 import org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
   6
   7 import com.ctre.CANTalon;
   8
   9 import edu.wpi.first.wpilibj.command.Subsystem;
  10
  11 public class Shooter extends Subsystem {
  12   public double wheelP = 0.0001, wheelI = 0, wheelD = 0.0004;
  13   private static Shooter shooter;
  14   private static HallEffectSensor hallEffect;
  15   private final CANTalon flyWheel1, flyWheel2, indexWheel;
  16
  17   public static final double DEFAULT_INDEXING_SPEED = -0.75;
  18   public static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
  19   private static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
  20
  21   public static final double SHOOTING_SPEED_INCREMENT = 25;
  22
  23   private Shooter() {
  24     flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
  25     flyWheel2 = new CANTalon(Constants.Shooter.FLY_WHEEL2);
  26     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
  27
  28     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
  29   }
  30
  31   public static HallEffectSensor getHallEffectSensor() {
  32     return hallEffect;
  33   }
  34
  35   /**
  36    * Returns shooter object
  37    *
  38    * @return Shooter object
  39    */
  40   public static Shooter getShooter() {
  41     if (shooter == null) {
  42       shooter = new Shooter();
  43     }
  44     return shooter;
  45   }
  46
  47   /**
  48    * Sets fly wheel motor value to input.
  49    *
  50    * @param val
  51    *          motor value from -1 to 1(fastest forward)
  52    */
  53   public void setFlyWheelMotorVal(double val) {
  54     val = MathLib.restrictToRange(val, 0.0, 1.0);
  55     flyWheel1.set(val);
  56     flyWheel2.set(val);
  57   }
  58
  59   /**
  60    * Stops fly wheel motor.
  61    */
  62   public void stopFlyWheel() {
  63     flyWheel1.set(0);
  64     flyWheel2.set(0);
  65   }
  66
  67   /**
  68    * Sets index wheel motor value to input.
  69    *
  70    * @param val
  71    *          motor value from -1 to 1(fastest forward)
  72    */
  73   public void setIndexWheelMotorVal(double val) {
  74     val = MathLib.restrictToRange(val, -1.0, 1.0);
  75     indexWheel.set(val);
  76   }
  77
  78   /**
  79    * Stops index wheel motor.
  80    */
  81   public void stopIndexWheel() {
  82     indexWheel.set(0);
  83   }
  84
  85   public double getCurrentShootingSpeed() {
  86     return CURRENT_SHOOTING_SPEED;
  87   }
  88
  89   public void setCurrentShootingSpeed(double Value) {
  90     CURRENT_SHOOTING_SPEED = Value;
  91   }
  92
  93   @Override
  94   protected void initDefaultCommand() {
  95
  96   }
  97
  98   public double getShooterRPM() {
  99     return hallEffect.getRPM();
 100   }
 101 }