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 d786d22cf5120e6ff680d6c017256ba8c487bd44..b9ccb42dff3967cabcfd551a0d71bb7c1ca31ad9 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -11,16 +11,17 @@ public class Shooter extends Subsystem {
   public double wheelP = 0, wheelI = 0, wheelD = -0;
   private static Shooter shooter;
   private static HallEffectSensor hallEffect;
-  private final CANTalon flyWheel, indexWheel;
+  private final CANTalon flyWheel1, flyWheel2, indexWheel;
 
-  public static final double DEFAULT_INDEXING_SPEED = 0;
-  public static final double DEFAULT_SHOOTING_SPEED = 0;
+  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;
+  public static final double SHOOTING_SPEED_INCREMENT = 0.05;
 
   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);
@@ -49,14 +50,16 @@ public class Shooter extends Subsystem {
    *          motor value from -1 to 1(fastest forward)
    */
   public void setFlyWheelMotorVal(final double val) {
-    flyWheel.set(val);
+    flyWheel1.set(val);
+    flyWheel2.set(val);
   }
 
   /**
    * Stops fly wheel motor.
    */
   public void stopFlyWheel() {
-    flyWheel.set(0);
+    flyWheel1.set(0);
+    flyWheel2.set(0);
   }
 
   /**
@@ -76,6 +79,14 @@ public class Shooter extends Subsystem {
     indexWheel.set(0);
   }
 
+  public double getCurrentShootingSpeed() {
+    return CURRENT_SHOOTING_SPEED;
+  }
+
+  public void setCurrentShootingSpeed(double Value) {
+    CURRENT_SHOOTING_SPEED = Value;
+  }
+
   @Override
   protected void initDefaultCommand() {