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;
+ 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;
}
/**
* 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);
}
/**
protected void initDefaultCommand() {
}
+
+ public double getShooterRPM() {
+ return hallEffect.getRPM();
+ }
}