package org.usfirst.frc.team3501.robot.subsystems;
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 final CANTalon flyWheel, indexWheel;
+ private static HallEffectSensor hallEffect;
+ private final CANTalon flyWheel1, flyWheel2, indexWheel;
- public static final double DEFAULT_SHOOTING_SPEED = 0;
- public static double CURRENT_SHOOTING_SPEED;
+ 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 = 0;
+ public static final double SHOOTING_SPEED_INCREMENT = 25;
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;
}
/**
* @param val
* motor value from -1 to 1(fastest forward)
*/
- public void setFlyWheelMotorVal(final double val) {
- flyWheel.set(val);
+ 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() {
- flyWheel.set(0);
+ flyWheel1.set(0);
+ flyWheel2.set(0);
}
/**
* @param val
* motor value from -1 to 1(fastest forward)
*/
- public void setIndexWheelMotorVal(final double val) {
+ public void setIndexWheelMotorVal(double val) {
+ val = MathLib.restrictToRange(val, -1.0, 1.0);
indexWheel.set(val);
}
indexWheel.set(0);
}
+ public double getCurrentShootingSpeed() {
+ return CURRENT_SHOOTING_SPEED;
+ }
+
+ public void setCurrentShootingSpeed(double Value) {
+ CURRENT_SHOOTING_SPEED = Value;
+ }
+
@Override
protected void initDefaultCommand() {
}
+
+ public double getShooterRPM() {
+ return hallEffect.getRPM();
+ }
}