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, wheelI = 0, wheelD = -0;
+ public double wheelP = 0.0003, wheelI = 0, wheelD = -0.00004;
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_INDEXING_SPEED = -1.0;
public static final double DEFAULT_SHOOTING_SPEED = 0.75;
public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
* @param val
* motor value from -1 to 1(fastest forward)
*/
- public void setFlyWheelMotorVal(final double val) {
+ public void setFlyWheelMotorVal(double val) {
+ val = MathLib.restrictToRange(val, 0.0, 1.0);
flyWheel1.set(val);
flyWheel2.set(val);
}
* @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() {