X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=6397292049a78637fe675af773033a382d605268;hp=561448a81a11714fae9bf28e4b35cf0fdb5a8314;hb=7ba6bc91b8cf7205e05cdb974dc80fdd668ebe59;hpb=79ba119a3b75a1cf9866fc701399d05ed450233f

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 561448a..6397292 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,5 +1,143 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
-public class Shooter {
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
+import org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
+import org.usfirst.frc.team3501.robot.utils.PIDController;
 
+import com.ctre.CANTalon;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class Shooter extends Subsystem {
+  public double wheelP = 0.00007, wheelI = 0, wheelD = 0.0008;
+  private static Shooter shooter;
+  private static HallEffectSensor hallEffect;
+  private final CANTalon flyWheel1, flyWheel2, indexWheel;
+
+  private PIDController wheelController;
+
+  private static final double RPM_THRESHOLD = 10;
+  private static final double DEFAULT_INDEXING_MOTOR_VALUE = -0.75;
+  private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
+  private static final double SHOOTING_SPEED_INCREMENT = 25;
+
+  private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
+  private double currentShooterMotorValue = 0;
+
+  private Shooter() {
+    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);
+  }
+
+  /**
+   * 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(double val) {
+    val = MathLib.restrictToRange(val, 0.0, 1.0);
+    flyWheel1.set(val);
+    flyWheel2.set(val);
+  }
+
+  /**
+   * Stops fly wheel motor.
+   */
+  public void stopFlyWheel() {
+    flyWheel1.set(0);
+    flyWheel2.set(0);
+  }
+
+  /**
+   * Sets index wheel motor value to input.
+   *
+   * @param val
+   *          motor value from -1 to 1(fastest forward)
+   */
+  public void setIndexWheelMotorVal(double val) {
+    val = MathLib.restrictToRange(val, -1.0, 1.0);
+    indexWheel.set(val);
+  }
+
+  /**
+   * Stops index wheel motor.
+   */
+  public void stopIndexWheel() {
+    indexWheel.set(0);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+
+  }
+
+  public double getRPMThreshold() {
+    return RPM_THRESHOLD;
+  }
+
+  public double getShooterRPM() {
+    return hallEffect.getRPM();
+  }
+
+  public void setTargetShootingSpeed(double Value) {
+    targetShootingSpeed = Value;
+  }
+
+  public void decrementTargetShootingSpeed() {
+    this.targetShootingSpeed -= this.SHOOTING_SPEED_INCREMENT;
+  }
+
+  public void incrementTargetShootingSpeed() {
+    this.targetShootingSpeed += this.SHOOTING_SPEED_INCREMENT;
+  }
+
+  public void resetTargetShootingSpeed() {
+    this.targetShootingSpeed = this.DEFAULT_SHOOTING_SPEED;
+  }
+
+  public double getTargetShootingSpeed() {
+    return targetShootingSpeed;
+  }
+
+  public void reverseIndexWheel() {
+    this.setIndexWheelMotorVal(-DEFAULT_INDEXING_MOTOR_VALUE);
+  }
+
+  public void runIndexWheel() {
+    this.setIndexWheelMotorVal(DEFAULT_INDEXING_MOTOR_VALUE);
+  }
+
+  public double calculateShooterSpeed() {
+    this.wheelController.setSetPoint(targetShootingSpeed);
+    double calculatedShooterIncrement = this.wheelController
+        .calcPID(this.getShooterRPM());
+    currentShooterMotorValue += calculatedShooterIncrement;
+    return currentShooterMotorValue;
+  }
+
+  public void initializePIDController() {
+    this.wheelController = new PIDController(wheelP, wheelI, wheelD);
+    this.wheelController.setDoneRange(10);
+    this.wheelController.setMaxOutput(1.0);
+    this.wheelController.setMinDoneCycles(3);
+    this.wheelController.setSetPoint(this.targetShootingSpeed);
+    this.currentShooterMotorValue = 0;
+  }
 }