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=faca5ddac1c1e7b9caabab21298a932c8192e5d0;hp=f22a1883f053dd557c78942dba6bc70bf207c414;hb=cb8e86cb498c12dcf4e2b7a5916fc6f4926b77cf;hpb=db563572154ac55dff3d7bd777025ba3ff8ff261

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index f22a188..faca5dd 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,12 +1,50 @@
 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.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+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 = 3100; // rpm
+  private static final double SHOOTING_SPEED_INCREMENT = 50;
+
+  private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
+  private double currentShooterMotorValue = 0;
+
+  private final DoubleSolenoid piston;
 
   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);
 
+    piston = new DoubleSolenoid(Constants.Shooter.MODULE_NUMBER,
+        Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
   }
 
+  /**
+   * Returns shooter object
+   *
+   * @return Shooter object
+   */
   public static Shooter getShooter() {
     if (shooter == null) {
       shooter = new Shooter();
@@ -15,24 +53,114 @@ public class Shooter {
   }
 
   /**
-   * Stops fly wheel
+   * Sets fly wheel motor value to input.
+   *
+   * @param val
+   *          motor value from -1 to 1(fastest forward)
    */
-  public void stopFlywheel() {
-
+  public void setFlyWheelMotorVal(double val) {
+    val = MathLib.restrictToRange(val, 0.0, 1.0);
+    flyWheel1.set(val);
+    flyWheel2.set(val);
   }
 
-  public void setFlyWheelMotorVal(final double 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
+   * Stops index wheel motor.
    */
   public void stopIndexWheel() {
+    indexWheel.set(0);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
 
   }
 
-  public void setIndexWheelMotorVal(final double val) {
+  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;
+  }
+
+  public Value getPistonValue() {
+    return piston.get();
+  }
+
+  public void setHighGear() {
+    changeGear(Constants.Shooter.HIGH_GEAR);
+  }
+
+  public void setLowGear() {
+    changeGear(Constants.Shooter.LOW_GEAR);
+  }
 
+  private void changeGear(DoubleSolenoid.Value gear) {
+    piston.set(gear);
   }
 }