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   private double wheelP = 0, wheelI = 0, wheelD = -0;
  12   private static Shooter shooter;
  13   private HallEffectSensor hallEffect;
  14   private final CANTalon flyWheel1, flyWheel2, indexWheel;
  15
  16   private static final double DEFAULT_INDEXING_SPEED = -0.75;
  17   private static final double DEFAULT_SHOOTING_SPEED = 0.75;
  18   private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
  19
  20   private 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   /**
  31    * Returns shooter object
  32    *
  33    * @return Shooter object
  34    */
  35   public static Shooter getShooter() {
  36     if (shooter == null) {
  37       shooter = new Shooter();
  38     }
  39     return shooter;
  40   }
  41
  42   /**
  43    * Sets fly wheel motor value to input.
  44    *
  45    * @param val
  46    *          motor value from -1 to 1(fastest forward)
  47    */
  48   private void setFlyWheelMotorVal(final double val) {
  49     flyWheel1.set(val);
  50     flyWheel2.set(val);
  51   }
  52
  53   public void incrementCurrentShootingSpeed() {
  54     currentShootingSpeed += SHOOTING_SPEED_INCREMENT;
  55   }
  56
  57   public void runFlyWheel() {
  58     flyWheel1.set(currentShootingSpeed);
  59   }
  60
  61   /**
  62    * Stops fly wheel motor.
  63    */
  64   public void stopFlyWheel() {
  65     flyWheel1.set(0);
  66     flyWheel2.set(0);
  67   }
  68
  69   /**
  70    * Stops index wheel motor.
  71    */
  72   public void stopIndexWheel() {
  73     indexWheel.set(0);
  74   }
  75
  76   /**
  77    * Run the index wheel forwards
  78    */
  79   public void runIndexWheelForward() {
  80     indexWheel.set(currentShootingSpeed);
  81   }
  82
  83   /**
  84    * Run the index wheel backwards
  85    */
  86   public void runIndexWheelReverse() {
  87     indexWheel.set(-currentShootingSpeed);
  88   }
  89
  90   @Override
  91   protected void initDefaultCommand() {
  92
  93   }
  94
  95   public double getShooterRPM() {
  96     return hallEffect.getRPM();
  97   }
  98
  99   public void decrementCurrentShootingSpeed() {
 100     currentShootingSpeed -= SHOOTING_SPEED_INCREMENT;
 101
 102   }
 103
 104   public void resetCurrentShootingSpeed() {
 105     currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
 106   }
 107
 108   /**
 109    * @return the wheelP
 110    */
 111   public double getWheelP() {
 112     return wheelP;
 113   }
 114
 115   /**
 116    * @return the wheelI
 117    */
 118   public double getWheelI() {
 119     return wheelI;
 120   }
 121
 122   /**
 123    * @return the wheelD
 124    */
 125   public double getWheelD() {
 126     return wheelD;
 127   }
 128
 129   /**
 130    * @return the currentShootingSpeed
 131    */
 132   public double getShootingSpeed() {
 133     return currentShootingSpeed;
 134   }
 135
 136 }