X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=91da0989fd53f2cabead98f63f70ed67dadc6114;hp=391eeafce1e1a3806c2ee1e5ad3aa1a910101688;hb=f625e57a09b295f7d40e4568a8e3a8cd125630aa;hpb=1782cbadb12ad13d30eab7597f656cbe17f48df2

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 391eeaf..91da098 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -14,11 +14,11 @@ public class Shooter extends Subsystem {
   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 = 2700; // rpm
-  private static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
+  private static final double DEFAULT_INDEXING_SPEED = -0.75;
+  private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
+  private static final double SHOOTING_SPEED_INCREMENT = 25;
 
-  public static final double SHOOTING_SPEED_INCREMENT = 25;
+  private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
 
   private Shooter() {
     flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
@@ -28,10 +28,6 @@ public class Shooter extends Subsystem {
     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
   }
 
-  public static HallEffectSensor getHallEffectSensor() {
-    return hallEffect;
-  }
-
   /**
    * Returns shooter object
    *
@@ -82,20 +78,40 @@ public class Shooter extends Subsystem {
     indexWheel.set(0);
   }
 
-  public double getCurrentShootingSpeed() {
-    return CURRENT_SHOOTING_SPEED;
+  @Override
+  protected void initDefaultCommand() {
+
+  }
+
+  public double getShooterRPM() {
+    return hallEffect.getRPM();
   }
 
   public void setCurrentShootingSpeed(double Value) {
-    CURRENT_SHOOTING_SPEED = Value;
+    currentShootingSpeed = Value;
   }
 
-  @Override
-  protected void initDefaultCommand() {
+  public void decrementCurrentShootingSpeed() {
+    this.currentShootingSpeed -= this.SHOOTING_SPEED_INCREMENT;
+  }
 
+  public void incrementCurrentShootingSpeed() {
+    this.currentShootingSpeed += this.SHOOTING_SPEED_INCREMENT;
   }
 
-  public double getShooterRPM() {
-    return hallEffect.getRPM();
+  public void resetCurrentShootingSpeed() {
+    this.currentShootingSpeed = this.DEFAULT_SHOOTING_SPEED;
+  }
+
+  public double getCurrentShootingSpeed() {
+    return currentShootingSpeed;
+  }
+
+  public void reverseIndexWheel() {
+    this.setIndexWheelMotorVal(-DEFAULT_INDEXING_SPEED);
+  }
+
+  public void runIndexWheel() {
+    this.setIndexWheelMotorVal(DEFAULT_INDEXING_SPEED);
   }
 }