add necessary commands/buttons

[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 a3242d9bdd1acecc2770ea3cd41d73766923dae2..85ecf468d6a2498a420813de8a41e84105c8c0ce 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -21,7 +21,8 @@ public class Shooter extends Subsystem {
 
   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 REVERSE_FLYWHEEL_MOTOR_VALUE = -0.75;
+  private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
   private static final double SHOOTING_SPEED_INCREMENT = 50;
 
   private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
@@ -36,7 +37,7 @@ public class Shooter extends Subsystem {
 
     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
 
-    piston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+    piston = new DoubleSolenoid(Constants.Shooter.MODULE_NUMBER,
         Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
   }
 
@@ -163,4 +164,8 @@ public class Shooter extends Subsystem {
   private void changeGear(DoubleSolenoid.Value gear) {
     piston.set(gear);
   }
+
+  public void reverseFlyWheel() {
+    this.setFlyWheelMotorVal(shooter.REVERSE_FLYWHEEL_MOTOR_VALUE);
+  }
 }