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.utils.HallEffectSensor;
   5
   6 import com.ctre.CANTalon;
   7
   8 import edu.wpi.first.wpilibj.command.Subsystem;
   9
  10 public class Shooter extends Subsystem {
  11   public double wheelP = 0, wheelI = 0, wheelD = -0;
  12   private static Shooter shooter;
  13   private static HallEffectSensor hallEffect;
  14   private final CANTalon flyWheel1, flyWheel2, indexWheel;
  15
  16   public static final double DEFAULT_INDEXING_SPEED = -0.75;
  17   public static final double DEFAULT_SHOOTING_SPEED = 0.75;
  18   public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
  19
  20   public static final double SHOOTING_SPEED_INCREMENT = 0.05;
  21
  22   private Shooter() {
  23     flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
  24     flyWheel2 = new CANTalon(Constants.Shooter.FLY_WHEEL2);
  25     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
  26
  27     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
  28   }
  29
  30   public static HallEffectSensor getHallEffectSensor() {
  31     return hallEffect;
  32   }
  33
  34   /**
  35    * Returns shooter object
  36    *
  37    * @return Shooter object
  38    */
  39   public static Shooter getShooter() {
  40     if (shooter == null) {
  41       shooter = new Shooter();
  42     }
  43     return shooter;
  44   }
  45
  46   /**
  47    * Sets fly wheel motor value to input.
  48    *
  49    * @param val
  50    *          motor value from -1 to 1(fastest forward)
  51    */
  52   public void setFlyWheelMotorVal(final double val) {
  53     flyWheel1.set(val);
  54     flyWheel2.set(val);
  55   }
  56
  57   /**
  58    * Stops fly wheel motor.
  59    */
  60   public void stopFlyWheel() {
  61     flyWheel1.set(0);
  62     flyWheel2.set(0);
  63   }
  64
  65   /**
  66    * Sets index wheel motor value to input.
  67    *
  68    * @param val
  69    *          motor value from -1 to 1(fastest forward)
  70    */
  71   public void setIndexWheelMotorVal(final double val) {
  72     indexWheel.set(val);
  73   }
  74
  75   /**
  76    * Stops index wheel motor.
  77    */
  78   public void stopIndexWheel() {
  79     indexWheel.set(0);
  80   }
  81
  82   public double getCurrentShootingSpeed() {
  83     return CURRENT_SHOOTING_SPEED;
  84   }
  85
  86   public void setCurrentShootingSpeed(double Value) {
  87     CURRENT_SHOOTING_SPEED = Value;
  88   }
  89
  90   @Override
  91   protected void initDefaultCommand() {
  92
  93   }
  94
  95   public double getShooterRPM() {
  96     return hallEffect.getRPM();
  97   }
  98 }