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   public double wheelP = 0, wheelI = 0, wheelD = -0;
  11   private static Shooter shooter;
  12   private final CANTalon flyWheel, indexWheel;
  13
  14   public static final double DEFAULT_INDEXING_SPEED = 0;
  15   public static final double DEFAULT_SHOOTING_SPEED = 0;
  16   public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
  17
  18   public static final double SHOOTING_SPEED_INCREMENT = 0;
  19
  20   private Shooter() {
  21     flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
  22     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
  23
  24   }
  25
  26   /**
  27    * Returns shooter object
  28    *
  29    * @return Shooter object
  30    */
  31   public static Shooter getShooter() {
  32     if (shooter == null) {
  33       shooter = new Shooter();
  34     }
  35     return shooter;
  36   }
  37
  38   /**
  39    * Sets fly wheel motor value to input.
  40    *
  41    * @param val
  42    *          motor value from -1 to 1(fastest forward)
  43    */
  44   public void setFlyWheelMotorVal(final double val) {
  45     flyWheel.set(val);
  46   }
  47
  48   /**
  49    * Stops fly wheel motor.
  50    */
  51   public void stopFlyWheel() {
  52     flyWheel.set(0);
  53   }
  54
  55   /**
  56    * Sets index wheel motor value to input.
  57    *
  58    * @param val
  59    *          motor value from -1 to 1(fastest forward)
  60    */
  61   public void setIndexWheelMotorVal(final double val) {
  62     indexWheel.set(val);
  63   }
  64
  65   /**
  66    * Stops index wheel motor.
  67    */
  68   public void stopIndexWheel() {
  69     indexWheel.set(0);
  70   }
  71
  72   @Override
  73   protected void initDefaultCommand() {
  74
  75   }
  76
  77   public double getShooterSpeed() {
  78     return 0.0;
  79   }
  80 }