import com.ctre.CANTalon;
-import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.command.Subsystem;
public class Shooter extends Subsystem {
private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
private double currentShooterMotorValue = 0;
- private final DoubleSolenoid piston;
-
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);
-
- piston = new DoubleSolenoid(Constants.Shooter.MODULE_NUMBER,
- Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
}
/**
* 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.currentShooterMotorValue = 0;
}
- public Value getPistonValue() {
- return piston.get();
- }
-
- public void setHighGear() {
- changeGear(Constants.Shooter.HIGH_GEAR);
- }
-
- public void setLowGear() {
- changeGear(Constants.Shooter.LOW_GEAR);
- }
-
- private void changeGear(DoubleSolenoid.Value gear) {
- piston.set(gear);
- }
-
public void reverseFlyWheel() {
this.setFlyWheelMotorVal(shooter.REVERSE_FLYWHEEL_MOTOR_VALUE);
}