add second motor controller for shooter

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / subsystems / Shooter.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 06073a791795c2be6c7aeccb781042bbba045fce..0c58ba32bb7605bc5a5e0d8c6c1addd6aebcaf52 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,18 +1,34 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
 
 import com.ctre.CANTalon;
 
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
+  public double wheelP = 0, wheelI = 0, wheelD = -0;
   private static Shooter shooter;
-  private final CANTalon flyWheel, indexWheel;
+  private static HallEffectSensor hallEffect;
+  private final CANTalon flyWheel1, flyWheel2, indexWheel;
+
+  public static final double DEFAULT_INDEXING_SPEED = 0;
+  public static final double DEFAULT_SHOOTING_SPEED = 0;
+  public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
+
+  public static final double SHOOTING_SPEED_INCREMENT = 0;
 
   private Shooter() {
-    flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
+    flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
+    flyWheel2 = new CANTalon(Constants.Shooter.FLY_WHEEL2);
     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
+
+    hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
+  }
+
+  public static HallEffectSensor getHallEffectSensor() {
+    return hallEffect;
   }
 
   /**
@@ -34,14 +50,16 @@ public class Shooter extends Subsystem {
    *          motor value from -1 to 1(fastest forward)
    */
   public void setFlyWheelMotorVal(final double val) {
-    flyWheel.set(val);
+    flyWheel1.set(val);
+    flyWheel2.set(val);
   }
 
   /**
    * Stops fly wheel motor.
    */
   public void stopFlyWheel() {
-    flyWheel.set(0);
+    flyWheel1.set(0);
+    flyWheel2.set(0);
   }
 
   /**
@@ -65,4 +83,8 @@ public class Shooter extends Subsystem {
   protected void initDefaultCommand() {
 
   }
+
+  public double getShooterRPM() {
+    return hallEffect.getRPM();
+  }
 }