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   private static final double DEFAULT_INDEXING_SPEED = -0.75;
  18   private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
  19   private static final double SHOOTING_SPEED_INCREMENT = 25;
  20
  21   private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
  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   /**
  32    * Returns shooter object
  33    *
  34    * @return Shooter object
  35    */
  36   public static Shooter getShooter() {
  37     if (shooter == null) {
  38       shooter = new Shooter();
  39     }
  40     return shooter;
  41   }
  42
  43   /**
  44    * Sets fly wheel motor value to input.
  45    *
  46    * @param val
  47    *          motor value from -1 to 1(fastest forward)
  48    */
  49   public void setFlyWheelMotorVal(double val) {
  50     val = MathLib.restrictToRange(val, 0.0, 1.0);
  51     flyWheel1.set(val);
  52     flyWheel2.set(val);
  53   }
  54
  55   /**
  56    * Stops fly wheel motor.
  57    */
  58   public void stopFlyWheel() {
  59     flyWheel1.set(0);
  60     flyWheel2.set(0);
  61   }
  62
  63   /**
  64    * Sets index wheel motor value to input.
  65    *
  66    * @param val
  67    *          motor value from -1 to 1(fastest forward)
  68    */
  69   public void setIndexWheelMotorVal(double val) {
  70     val = MathLib.restrictToRange(val, -1.0, 1.0);
  71     indexWheel.set(val);
  72   }
  73
  74   /**
  75    * Stops index wheel motor.
  76    */
  77   public void stopIndexWheel() {
  78     indexWheel.set(0);
  79   }
  80
  81   @Override
  82   protected void initDefaultCommand() {
  83
  84   }
  85
  86   public double getShooterRPM() {
  87     return hallEffect.getRPM();
  88   }
  89
  90   public void setCurrentShootingSpeed(double Value) {
  91     currentShootingSpeed = Value;
  92   }
  93
  94   public void decrementCurrentShootingSpeed() {
  95     this.currentShootingSpeed -= this.SHOOTING_SPEED_INCREMENT;
  96   }
  97
  98   public void incrementCurrentShootingSpeed() {
  99     this.currentShootingSpeed += this.SHOOTING_SPEED_INCREMENT;
 100   }
 101
 102   public void resetCurrentShootingSpeed() {
 103     this.currentShootingSpeed = this.DEFAULT_SHOOTING_SPEED;
 104   }
 105
 106   public double getCurrentShootingSpeed() {
 107     return currentShootingSpeed;
 108   }
 109
 110   public void reverseIndexWheel() {
 111     this.setIndexWheelMotorVal(-DEFAULT_INDEXING_SPEED);
 112   }
 113
 114   public void runIndexWheel() {
 115     this.setIndexWheelMotorVal(DEFAULT_INDEXING_SPEED);
 116   }
 117 }