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 = 0.0003, wheelI = 0, wheelD = -0.00004;
  15   private static Shooter shooter;
  16   private static HallEffectSensor hallEffect;
  17   private final CANTalon flyWheel1, flyWheel2, indexWheel;
  18
  19   public static final double DEFAULT_INDEXING_SPEED = -1.0;
  20   public static final double DEFAULT_SHOOTING_SPEED = 0.75;
  21   public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
  22
  23   public static final double SHOOTING_SPEED_INCREMENT = 0.05;
  24
  25   private final 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.DriveTrain.MODULE_NUMBER,
  35         Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
  36   }
  37
  38   public static HallEffectSensor getHallEffectSensor() {
  39     return hallEffect;
  40   }
  41
  42   /**
  43    * Returns shooter object
  44    *
  45    * @return Shooter object
  46    */
  47   public static Shooter getShooter() {
  48     if (shooter == null) {
  49       shooter = new Shooter();
  50     }
  51     return shooter;
  52   }
  53
  54   /**
  55    * Sets fly wheel motor value to input.
  56    *
  57    * @param val
  58    *          motor value from -1 to 1(fastest forward)
  59    */
  60   public void setFlyWheelMotorVal(double val) {
  61     val = MathLib.restrictToRange(val, 0.0, 1.0);
  62     flyWheel1.set(val);
  63     flyWheel2.set(val);
  64   }
  65
  66   /**
  67    * Stops fly wheel motor.
  68    */
  69   public void stopFlyWheel() {
  70     flyWheel1.set(0);
  71     flyWheel2.set(0);
  72   }
  73
  74   /**
  75    * Sets index wheel motor value to input.
  76    *
  77    * @param val
  78    *          motor value from -1 to 1(fastest forward)
  79    */
  80   public void setIndexWheelMotorVal(double val) {
  81     val = MathLib.restrictToRange(val, -1.0, 1.0);
  82     indexWheel.set(val);
  83   }
  84
  85   /**
  86    * Stops index wheel motor.
  87    */
  88   public void stopIndexWheel() {
  89     indexWheel.set(0);
  90   }
  91
  92   public double getCurrentShootingSpeed() {
  93     return CURRENT_SHOOTING_SPEED;
  94   }
  95
  96   public void setCurrentShootingSpeed(double Value) {
  97     CURRENT_SHOOTING_SPEED = Value;
  98   }
  99
 100   @Override
 101   protected void initDefaultCommand() {
 102
 103   }
 104
 105   public double getShooterRPM() {
 106     return hallEffect.getRPM();
 107   }
 108
 109   public Value getPistonValue() {
 110     return piston.get();
 111   }
 112
 113   public void setHighGear() {
 114     changeGear(Constants.Shooter.HIGH_GEAR);
 115   }
 116
 117   public void setLowGear() {
 118     changeGear(Constants.Shooter.LOW_GEAR);
 119   }
 120
 121   private void changeGear(DoubleSolenoid.Value gear) {
 122     piston.set(gear);
 123   }
 124 }