add corrections

[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 4869775e82dc88ccb8231063172da15e9839c03f..f5d33399b309f05577846404854469e931d982df 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -8,16 +8,16 @@ 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 double wheelP = 0, wheelI = 0, wheelD = -0;
   private static Shooter shooter;
-  private static HallEffectSensor hallEffect;
+  private 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;
+  private static final double DEFAULT_INDEXING_SPEED = -0.75;
+  private static final double DEFAULT_SHOOTING_SPEED = 0.75;
+  private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
 
-  public static final double SHOOTING_SPEED_INCREMENT = 0.05;
+  private static final double SHOOTING_SPEED_INCREMENT = 0.05;
 
   private Shooter() {
     flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
@@ -27,10 +27,6 @@ public class Shooter extends Subsystem {
     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
   }
 
-  public static HallEffectSensor getHallEffectSensor() {
-    return hallEffect;
-  }
-
   /**
    * Returns shooter object
    *
@@ -49,11 +45,19 @@ public class Shooter extends Subsystem {
    * @param val
    *          motor value from -1 to 1(fastest forward)
    */
-  public void setFlyWheelMotorVal(final double val) {
+  private void setFlyWheelMotorVal(final double val) {
     flyWheel1.set(val);
     flyWheel2.set(val);
   }
 
+  public void incrementCurrentShootingSpeed() {
+    currentShootingSpeed += SHOOTING_SPEED_INCREMENT;
+  }
+
+  public void runFlyWheel() {
+    flyWheel1.set(currentShootingSpeed);
+  }
+
   /**
    * Stops fly wheel motor.
    */
@@ -63,20 +67,24 @@ public class Shooter extends Subsystem {
   }
 
   /**
-   * Sets index wheel motor value to input.
-   *
-   * @param val
-   *          motor value from -1 to 1(fastest forward)
+   * Stops index wheel motor.
    */
-  public void setIndexWheelMotorVal(final double val) {
-    indexWheel.set(val);
+  public void stopIndexWheel() {
+    indexWheel.set(0);
   }
 
   /**
-   * Stops index wheel motor.
+   * Run the index wheel forwards
    */
-  public void stopIndexWheel() {
-    indexWheel.set(0);
+  public void runIndexWheelForward() {
+    indexWheel.set(currentShootingSpeed);
+  }
+
+  /**
+   * Run the index wheel backwards
+   */
+  public void runIndexWheelReverse() {
+    indexWheel.set(-currentShootingSpeed);
   }
 
   @Override
@@ -87,4 +95,42 @@ public class Shooter extends Subsystem {
   public double getShooterRPM() {
     return hallEffect.getRPM();
   }
+
+  public void decrementCurrentShootingSpeed() {
+    currentShootingSpeed -= SHOOTING_SPEED_INCREMENT;
+
+  }
+
+  public void resetCurrentShootingSpeed() {
+    currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
+  }
+
+  /**
+   * @return the wheelP
+   */
+  public double getWheelP() {
+    return wheelP;
+  }
+
+  /**
+   * @return the wheelI
+   */
+  public double getWheelI() {
+    return wheelI;
+  }
+
+  /**
+   * @return the wheelD
+   */
+  public double getWheelD() {
+    return wheelD;
+  }
+
+  /**
+   * @return the currentShootingSpeed
+   */
+  public double getShootingSpeed() {
+    return currentShootingSpeed;
+  }
+
 }