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   public double wheelP = 0, wheelI = 0, wheelD = -0;
  12   private static Shooter shooter;
  13   private static HallEffectSensor hallEffect;
  14   private final CANTalon flyWheel, indexWheel;
  15
  16   public static final double DEFAULT_INDEXING_SPEED = 0;
  17   public static final double DEFAULT_SHOOTING_SPEED = 0;
  18   public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
  19
  20   public static final double SHOOTING_SPEED_INCREMENT = 0;
  21
  22   private Shooter() {
  23     flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
  24     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
  25
  26     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
  27   }
  28
  29   public static HallEffectSensor getHallEffectSensor() {
  30     return hallEffect;
  31   }
  32
  33   /**
  34    * Returns shooter object
  35    *
  36    * @return Shooter object
  37    */
  38   public static Shooter getShooter() {
  39     if (shooter == null) {
  40       shooter = new Shooter();
  41     }
  42     return shooter;
  43   }
  44
  45   /**
  46    * Sets fly wheel motor value to input.
  47    *
  48    * @param val
  49    *          motor value from -1 to 1(fastest forward)
  50    */
  51   public void setFlyWheelMotorVal(final double val) {
  52     flyWheel.set(val);
  53   }
  54
  55   /**
  56    * Stops fly wheel motor.
  57    */
  58   public void stopFlyWheel() {
  59     flyWheel.set(0);
  60   }
  61
  62   /**
  63    * Sets index wheel motor value to input.
  64    *
  65    * @param val
  66    *          motor value from -1 to 1(fastest forward)
  67    */
  68   public void setIndexWheelMotorVal(final double val) {
  69     indexWheel.set(val);
  70   }
  71
  72   /**
  73    * Stops index wheel motor.
  74    */
  75   public void stopIndexWheel() {
  76     indexWheel.set(0);
  77   }
  78
  79   @Override
  80   protected void initDefaultCommand() {
  81
  82   }
  83
  84   public double getShooterRPM() {
  85     return hallEffect.getRPM();
  86   }
  87 }