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 DoubleSolenoid piston;
  26
  27   private Shooter() {
  28     flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
  29     flyWheel2 = new CANTalon(Constants.Shooter.FLY_WHEEL2);
  30     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
  31
  32     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
  33
  34     piston = new DoubleSolenoid(Constants.Shooter.PISTON_MODULE,
  35         Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
  36   }
  37
  38   /**
  39    * Returns shooter object
  40    *
  41    * @return Shooter object
  42    */
  43   public static Shooter getShooter() {
  44     if (shooter == null) {
  45       shooter = new Shooter();
  46     }
  47     return shooter;
  48   }
  49
  50   /**
  51    * Sets fly wheel motor value to input.
  52    *
  53    * @param val
  54    *          motor value from -1 to 1(fastest forward)
  55    */
  56   public void setFlyWheelMotorVal(double val) {
  57     val = MathLib.restrictToRange(val, 0.0, 1.0);
  58     flyWheel1.set(val);
  59     flyWheel2.set(val);
  60   }
  61
  62   /**
  63    * Stops fly wheel motor.
  64    */
  65   public void stopFlyWheel() {
  66     flyWheel1.set(0);
  67     flyWheel2.set(0);
  68   }
  69
  70   /**
  71    * Sets index wheel motor value to input.
  72    *
  73    * @param val
  74    *          motor value from -1 to 1(fastest forward)
  75    */
  76   public void setIndexWheelMotorVal(double val) {
  77     val = MathLib.restrictToRange(val, -1.0, 1.0);
  78     indexWheel.set(val);
  79   }
  80
  81   /**
  82    * Stops index wheel motor.
  83    */
  84   public void stopIndexWheel() {
  85     indexWheel.set(0);
  86   }
  87
  88   @Override
  89   protected void initDefaultCommand() {
  90
  91   }
  92
  93   public double getShooterRPM() {
  94     return hallEffect.getRPM();
  95   }
  96
  97   public void setCurrentShootingSpeed(double Value) {
  98     currentShootingSpeed = Value;
  99   }
 100
 101   public void decrementCurrentShootingSpeed() {
 102     this.currentShootingSpeed -= this.SHOOTING_SPEED_INCREMENT;
 103   }
 104
 105   public void incrementCurrentShootingSpeed() {
 106     this.currentShootingSpeed += this.SHOOTING_SPEED_INCREMENT;
 107   }
 108
 109   public void resetCurrentShootingSpeed() {
 110     this.currentShootingSpeed = this.DEFAULT_SHOOTING_SPEED;
 111   }
 112
 113   public double getCurrentShootingSpeed() {
 114     return currentShootingSpeed;
 115   }
 116
 117   public void reverseIndexWheel() {
 118     this.setIndexWheelMotorVal(-DEFAULT_INDEXING_SPEED);
 119   }
 120
 121   public void runIndexWheel() {
 122     this.setIndexWheelMotorVal(DEFAULT_INDEXING_SPEED);
 123   }
 124
 125   public Value getPistonValue() {
 126     return piston.get();
 127   }
 128
 129   public void setHighGear() {
 130     changeGear(Constants.Shooter.HIGH_GEAR);
 131   }
 132
 133   public void setLowGear() {
 134     changeGear(Constants.Shooter.LOW_GEAR);
 135   }
 136
 137   private void changeGear(DoubleSolenoid.Value gear) {
 138     piston.set(gear);
 139   }
 140 }