implement shooter pid

[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 d786d22cf5120e6ff680d6c017256ba8c487bd44..391eeafce1e1a3806c2ee1e5ad3aa1a910101688 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,6 +1,7 @@
 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;
@@ -8,19 +9,20 @@ import com.ctre.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
-  public double wheelP = 0, wheelI = 0, wheelD = -0;
+  public double wheelP = 0.0001, wheelI = 0, wheelD = 0.0004;
   private static Shooter shooter;
   private static HallEffectSensor hallEffect;
-  private final CANTalon flyWheel, indexWheel;
+  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 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);
@@ -48,15 +50,18 @@ public class Shooter extends Subsystem {
    * @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);
   }
 
   /**
@@ -65,7 +70,8 @@ public class Shooter extends Subsystem {
    * @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);
   }
 
@@ -76,6 +82,14 @@ public class Shooter extends Subsystem {
     indexWheel.set(0);
   }
 
+  public double getCurrentShootingSpeed() {
+    return CURRENT_SHOOTING_SPEED;
+  }
+
+  public void setCurrentShootingSpeed(double Value) {
+    CURRENT_SHOOTING_SPEED = Value;
+  }
+
   @Override
   protected void initDefaultCommand() {