package org.usfirst.frc.team3501.robot.subsystems;
-public class Shooter {
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
+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 = 0.0001, wheelI = 0, wheelD = 0.0004;
private static Shooter shooter;
+ private static HallEffectSensor hallEffect;
+ private final CANTalon flyWheel1, flyWheel2, indexWheel;
+
+ public static final double DEFAULT_INDEXING_SPEED = -0.75;
+ public static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
+ private static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
+
+ public static final double SHOOTING_SPEED_INCREMENT = 25;
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();
}
/**
- * Stops fly wheel
+ * Sets fly wheel motor value to input.
+ *
+ * @param val
+ * motor value from -1 to 1(fastest forward)
*/
- public void stopFlywheel() {
+ public void setFlyWheelMotorVal(double val) {
+ val = MathLib.restrictToRange(val, 0.0, 1.0);
+ flyWheel1.set(val);
+ flyWheel2.set(val);
+ }
+ /**
+ * Stops fly wheel motor.
+ */
+ public void stopFlyWheel() {
+ flyWheel1.set(0);
+ flyWheel2.set(0);
}
/**
- * Runs the fly 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 runFlywheel(double speed, double time) {
-
+ public void setIndexWheelMotorVal(double val) {
+ val = MathLib.restrictToRange(val, -1.0, 1.0);
+ indexWheel.set(val);
}
/**
- * Stops index wheel
+ * Stops index wheel motor.
*/
public void stopIndexWheel() {
-
+ indexWheel.set(0);
}
- /**
- * Runs index wheel at a given speed in () for input time in seconds
- *
- * @param speed
- * in ()
- * @param time
- * in seconds
- */
- public void runIndexWheel(double speed, double time) {
+ public double getCurrentShootingSpeed() {
+ return CURRENT_SHOOTING_SPEED;
+ }
+ public void setCurrentShootingSpeed(double Value) {
+ CURRENT_SHOOTING_SPEED = Value;
}
- /**
- * Runs fly wheel continuously until ________
- */
- public void runFlywheelContinuous() {
+ @Override
+ protected void initDefaultCommand() {
}
- /**
- * Runs index wheel continuously until ________
- */
- public void runIndexWheelContinuous() {
-
+ public double getShooterRPM() {
+ return hallEffect.getRPM();
}
}