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 = 0.0001, wheelI = 0, wheelD = 0.0004;
private static Shooter shooter;
- private final CANTalon flyWheel, indexWheel;
+ private static HallEffectSensor hallEffect;
+ 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;
+ private static final double DEFAULT_INDEXING_SPEED = -0.75;
+ private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
+ private static final double SHOOTING_SPEED_INCREMENT = 25;
- public static final double SHOOTING_SPEED_INCREMENT = 0;
+ private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
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);
}
/**
* @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);
}
/**
* @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);
}
}
- public double getShooterSpeed() {
- return 0.0;
+ public double getShooterRPM() {
+ return hallEffect.getRPM();
+ }
+
+ public void setCurrentShootingSpeed(double Value) {
+ currentShootingSpeed = Value;
+ }
+
+ public void decrementCurrentShootingSpeed() {
+ this.currentShootingSpeed -= this.SHOOTING_SPEED_INCREMENT;
+ }
+
+ public void incrementCurrentShootingSpeed() {
+ this.currentShootingSpeed += this.SHOOTING_SPEED_INCREMENT;
+ }
+
+ public void resetCurrentShootingSpeed() {
+ this.currentShootingSpeed = this.DEFAULT_SHOOTING_SPEED;
+ }
+
+ public double getCurrentShootingSpeed() {
+ return currentShootingSpeed;
+ }
+
+ public void reverseIndexWheel() {
+ this.setIndexWheelMotorVal(-DEFAULT_INDEXING_SPEED);
+ }
+
+ public void runIndexWheel() {
+ this.setIndexWheelMotorVal(DEFAULT_INDEXING_SPEED);
}
}