package org.usfirst.frc.team3501.robot.subsystems;
-public class Shooter {
+import org.usfirst.frc.team3501.robot.Constants;
+import com.ctre.CANTalon;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class Shooter extends Subsystem {
+ private static Shooter shooter;
+ private final CANTalon flyWheel, indexWheel;
+
+ public static final double DEFAULT_INDEXING_SPEED = 0;
+ public static final double DEFAULT_SHOOTING_SPEED = 0;
+ public static double CURRENT_SHOOTING_SPEED;
+
+ public static final double SHOOTING_SPEED_INCREMENT = 0;
+
+ private Shooter() {
+ flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
+ indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
+
+ }
+
+ /**
+ * 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) {
+ flyWheel.set(val);
+ }
+
+ /**
+ * Stops fly wheel motor.
+ */
+ public void stopFlyWheel() {
+ flyWheel.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);
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+
+ }
}