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