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 3df4f7d29516f40c3df7e7c2ce871ab10484e6d5..0c58ba32bb7605bc5a5e0d8c6c1addd6aebcaf52 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,12 +1,41 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
-public class Shooter {
+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 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() {
+    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;
   }
 
+  /**
+   * Returns shooter object
+   *
+   * @return Shooter object
+   */
   public static Shooter getShooter() {
     if (shooter == null) {
       shooter = new Shooter();
@@ -15,54 +44,47 @@ public class Shooter {
   }
 
   /**
-   * Stops fly wheel
-   */
-  public void stopFlywheel() {
-
-  }
-
-  /**
-   * Runs the fly wheel at a given speed in () for input time in seconds
+   * Sets fly wheel motor value to input.
    *
-   * @param speed
-   *          in ()
-   * @param time
-   *          in seconds
+   * @param val
+   *          motor value from -1 to 1(fastest forward)
    */
-  public void runFlywheel(double speed, double time) {
-
+  public void setFlyWheelMotorVal(final double val) {
+    flyWheel1.set(val);
+    flyWheel2.set(val);
   }
 
   /**
-   * Stops index wheel
+   * Stops fly wheel motor.
    */
-  public void stopIndexWheel() {
-
+  public void stopFlyWheel() {
+    flyWheel1.set(0);
+    flyWheel2.set(0);
   }
 
   /**
-   * Runs index wheel at a given speed in () for input time in seconds
+   * Sets index wheel motor value to input.
    *
-   * @param speed
-   *          in ()
-   * @param time
-   *          in seconds
+   * @param val
+   *          motor value from -1 to 1(fastest forward)
    */
-  public void runIndexWheel(double speed, double time) {
-
+  public void setIndexWheelMotorVal(final double val) {
+    indexWheel.set(val);
   }
 
   /**
-   * Runs fly wheel continuously until ________
+   * Stops index wheel motor.
    */
-  public void runFlywheelContinuous() {
-
+  public void stopIndexWheel() {
+    indexWheel.set(0);
   }
 
-  /**
-   * Runs index wheel continuously until ________
-   */
-  public void runIndexWheelContinuous() {
+  @Override
+  protected void initDefaultCommand() {
+
+  }
 
+  public double getShooterRPM() {
+    return hallEffect.getRPM();
   }
 }