package org.usfirst.frc.team3501.robot.subsystems;
-public class Shooter {
+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 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 = 0.75;
+ public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
+
+ public static final double SHOOTING_SPEED_INCREMENT = 0.05;
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
- */
- public void stopFlywheel() {
-
- }
-
- /**
- * Runs the fly wheel at a given speed in () for input time in seconds
+ * Sets fly 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 setFlyWheelMotorVal(final double val) {
+ flyWheel1.set(val);
+ flyWheel2.set(val);
}
/**
- * Stops index wheel
+ * Stops fly wheel motor.
*/
- public void stopIndexWheel() {
-
+ public void stopFlyWheel() {
+ flyWheel1.set(0);
+ flyWheel2.set(0);
}
/**
- * Runs index 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 runIndexWheel(double speed, double time) {
-
+ public void setIndexWheelMotorVal(final double val) {
+ indexWheel.set(val);
}
/**
- * Runs fly wheel continuously until ________
+ * Stops index wheel motor.
*/
- public void runFlywheelContinuous() {
-
+ public void stopIndexWheel() {
+ indexWheel.set(0);
}
- /**
- * Runs index wheel continuously until ________
- */
- public void runIndexWheelContinuous() {
+ @Override
+ protected void initDefaultCommand() {
+
+ }
+ public double getShooterRPM() {
+ return hallEffect.getRPM();
}
}