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
   5 import com.ctre.CANTalon;
   6
   7 import edu.wpi.first.wpilibj.command.Subsystem;
   8
   9 public class Shooter extends Subsystem {
  10   private static Shooter shooter;
  11   private final CANTalon flyWheel, indexWheel;
  12
  13   public static final double DEFAULT_INDEXING_SPEED = 0;
  14   public static final double DEFAULT_SHOOTING_SPEED = 0;
  15   public static double CURRENT_SHOOTING_SPEED;
  16
  17   public static final double SHOOTING_SPEED_INCREMENT = 0;
  18
  19   private Shooter() {
  20     flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
  21     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
  22
  23   }
  24
  25   /**
  26    * Returns shooter object
  27    *
  28    * @return Shooter object
  29    */
  30   public static Shooter getShooter() {
  31     if (shooter == null) {
  32       shooter = new Shooter();
  33     }
  34     return shooter;
  35   }
  36
  37   /**
  38    * Sets fly wheel motor value to input.
  39    *
  40    * @param val
  41    *          motor value from -1 to 1(fastest forward)
  42    */
  43   public void setFlyWheelMotorVal(final double val) {
  44     flyWheel.set(val);
  45   }
  46
  47   /**
  48    * Stops fly wheel motor.
  49    */
  50   public void stopFlyWheel() {
  51     flyWheel.set(0);
  52   }
  53
  54   /**
  55    * Sets index wheel motor value to input.
  56    *
  57    * @param val
  58    *          motor value from -1 to 1(fastest forward)
  59    */
  60   public void setIndexWheelMotorVal(final double val) {
  61     indexWheel.set(val);
  62   }
  63
  64   /**
  65    * Stops index wheel motor.
  66    */
  67   public void stopIndexWheel() {
  68     indexWheel.set(0);
  69   }
  70
  71   @Override
  72   protected void initDefaultCommand() {
  73
  74   }
  75 }