Implement getter and setter methods for current shooting speed

[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 561448a81a11714fae9bf28e4b35cf0fdb5a8314..b9ccb42dff3967cabcfd551a0d71bb7c1ca31ad9 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,5 +1,98 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
-public class Shooter {
+import org.usfirst.frc.team3501.robot.Constants;
+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;
+  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_SHOOTING_SPEED = 0.75;
+  public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
+
+  public static final double SHOOTING_SPEED_INCREMENT = 0.05;
+
+  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);
+  }
+
+  public static HallEffectSensor getHallEffectSensor() {
+    return hallEffect;
+  }
+
+  /**
+   * Returns shooter object
+   *
+   * @return Shooter object
+   */
+  public static Shooter getShooter() {
+    if (shooter == null) {
+      shooter = new Shooter();
+    }
+    return shooter;
+  }
+
+  /**
+   * Sets fly wheel motor value to input.
+   *
+   * @param val
+   *          motor value from -1 to 1(fastest forward)
+   */
+  public void setFlyWheelMotorVal(final double val) {
+    flyWheel1.set(val);
+    flyWheel2.set(val);
+  }
+
+  /**
+   * Stops fly wheel motor.
+   */
+  public void stopFlyWheel() {
+    flyWheel1.set(0);
+    flyWheel2.set(0);
+  }
+
+  /**
+   * Sets index wheel motor value to input.
+   *
+   * @param val
+   *          motor value from -1 to 1(fastest forward)
+   */
+  public void setIndexWheelMotorVal(final double val) {
+    indexWheel.set(val);
+  }
+
+  /**
+   * Stops index wheel motor.
+   */
+  public void stopIndexWheel() {
+    indexWheel.set(0);
+  }
+
+  public double getCurrentShootingSpeed() {
+    return CURRENT_SHOOTING_SPEED;
+  }
+
+  public void setCurrentShootingSpeed(double Value) {
+    CURRENT_SHOOTING_SPEED = Value;
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+
+  }
+
+  public double getShooterRPM() {
+    return hallEffect.getRPM();
+  }
 }