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.DoubleSolenoid;
  10 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
  11 import edu.wpi.first.wpilibj.command.Subsystem;
  12
  13 public class Shooter extends Subsystem {
  14   public double wheelP = 0.0001, wheelI = 0, wheelD = 0.0004;
  15   private static Shooter shooter;
  16   private static HallEffectSensor hallEffect;
  17   private final CANTalon flyWheel1, flyWheel2, indexWheel;
  18
  19   private static final double DEFAULT_INDEXING_SPEED = -0.75;
  20   private static final double DEFAULT_SHOOTING_SPEED = 2800; // rpm
  21   private static final double SHOOTING_SPEED_INCREMENT = 25;
  22
  23   private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
  24
  25   private Shooter() {
  26     flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
  27     flyWheel2 = new CANTalon(Constants.Shooter.FLY_WHEEL2);
  28     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
  29
  30     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
  31   }
  32
  33   /**
  34    * Returns shooter object
  35    *
  36    * @return Shooter object
  37    */
  38   public static Shooter getShooter() {
  39     if (shooter == null) {
  40       shooter = new Shooter();
  41     }
  42     return shooter;
  43   }
  44
  45   /**
  46    * Sets fly wheel motor value to input.
  47    *
  48    * @param val
  49    *          motor value from -1 to 1(fastest forward)
  50    */
  51   public void setFlyWheelMotorVal(double val) {
  52     val = MathLib.restrictToRange(val, 0.0, 1.0);
  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(double val) {
  72     val = MathLib.restrictToRange(val, -1.0, 1.0);
  73     indexWheel.set(val);
  74   }
  75
  76   /**
  77    * Stops index wheel motor.
  78    */
  79   public void stopIndexWheel() {
  80     indexWheel.set(0);
  81   }
  82
  83   @Override
  84   protected void initDefaultCommand() {
  85
  86   }
  87
  88   public double getShooterRPM() {
  89     return hallEffect.getRPM();
  90   }
  91
  92   public void setCurrentShootingSpeed(double Value) {
  93     currentShootingSpeed = Value;
  94   }
  95
  96   public void decrementCurrentShootingSpeed() {
  97     this.currentShootingSpeed -= this.SHOOTING_SPEED_INCREMENT;
  98   }
  99
 100   public void incrementCurrentShootingSpeed() {
 101     this.currentShootingSpeed += this.SHOOTING_SPEED_INCREMENT;
 102   }
 103
 104   public void resetCurrentShootingSpeed() {
 105     this.currentShootingSpeed = this.DEFAULT_SHOOTING_SPEED;
 106   }
 107
 108   public double getCurrentShootingSpeed() {
 109     return currentShootingSpeed;
 110   }
 111
 112   public void reverseIndexWheel() {
 113     this.setIndexWheelMotorVal(-DEFAULT_INDEXING_SPEED);
 114   }
 115
 116   public void runIndexWheel() {
 117     this.setIndexWheelMotorVal(DEFAULT_INDEXING_SPEED);
 118   }
 119
 120   public Value getPistonValue() {
 121     return piston.get();
 122   }
 123
 124   public void setHighGear() {
 125     changeGear(Constants.Shooter.HIGH_GEAR);
 126   }
 127
 128   public void setLowGear() {
 129     changeGear(Constants.Shooter.LOW_GEAR);
 130   }
 131
 132   private void changeGear(DoubleSolenoid.Value gear) {
 133     piston.set(gear);
 134   }
 135 }