make code for pid fly wheel control

[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 73c1b23282356686b7475b9ba8b21692c0753504..f39f1ff2754e284dcc4f38124e7465131a913b13 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -7,9 +7,11 @@ import com.ctre.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
+  public double wheelP = 0.005, wheelI = 0.001, wheelD = -0.003;
   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;
 
@@ -71,4 +73,8 @@ public class Shooter extends Subsystem {
   protected void initDefaultCommand() {
 
   }
+
+  public double getShooterSpeed() {
+    return 1.0;
+  }
 }