1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
5 import com
.ctre
.CANTalon
;
7 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
9 public class Shooter
extends Subsystem
{
10 private static Shooter shooter
;
11 private final CANTalon flyWheel
, indexWheel
;
14 flyWheel
= new CANTalon(Constants
.Shooter
.FLY_WHEEL
);
15 indexWheel
= new CANTalon(Constants
.Shooter
.INDEX_WHEEL
);
19 * Returns shooter object
21 * @return Shooter object
23 public static Shooter
getShooter() {
24 if (shooter
== null) {
25 shooter
= new Shooter();
31 * Sets fly wheel motor value to input.
34 * motor value from -1 to 1(fastest forward)
36 public void setFlyWheelMotorVal(final double val
) {
41 * Stops fly wheel motor.
43 public void stopFlyWheel() {
48 * Sets index wheel motor value to input.
51 * motor value from -1 to 1(fastest forward)
53 public void setIndexWheelMotorVal(final double val
) {
58 * Stops index wheel motor.
60 public void stopIndexWheel() {
65 protected void initDefaultCommand() {