private PIDController wheelController;
private static final double RPM_THRESHOLD = 10;
- private static final double DEFAULT_INDEXING_MOTOR_VALUE = -0.75;
- private static final double DEFAULT_SHOOTING_SPEED = 2800; // rpm
+ private static final double DEFAULT_INDEXING_MOTOR_VALUE = 0.75;
+ private static final double REVERSE_FLYWHEEL_MOTOR_VALUE = -0.75;
+ private static final double DEFAULT_SHOOTING_SPEED = 2875; // rpm
private static final double SHOOTING_SPEED_INCREMENT = 25;
private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
* motor value from -1 to 1(fastest forward)
*/
public void setFlyWheelMotorVal(double val) {
- val = MathLib.restrictToRange(val, 0.0, 1.0);
+ val = MathLib.restrictToRange(val, -1.0, 1.0);
flyWheel1.set(val);
flyWheel2.set(val);
}
this.wheelController.setSetPoint(this.targetShootingSpeed);
this.currentShooterMotorValue = 0;
}
+
+ public void reverseFlyWheel() {
+ this.setFlyWheelMotorVal(shooter.REVERSE_FLYWHEEL_MOTOR_VALUE);
+ }
}