import edu.wpi.first.wpilibj.command.Subsystem;
public class Shooter extends Subsystem {
- public double wheelP = 0.0003, wheelI = 0, wheelD = -0.00004;
+ 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 = -1.0;
- public static final double DEFAULT_SHOOTING_SPEED = 0.75;
- public static double CURRENT_SHOOTING_SPEED = DEFAULT_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 = 0.05;
+ public static final double SHOOTING_SPEED_INCREMENT = 25;
private Shooter() {
flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);