public static class Shooter {
// MOTOR CONTROLLERS
- public static final int FLY_WHEEL = 0;
+ public static final int FLY_WHEEL1 = 0;
+ public static final int FLY_WHEEL2 = 0;
public static final int INDEX_WHEEL = 0;
public final static int TOGGLE_WINCH_PORT = 0;
public double wheelP = 0, wheelI = 0, wheelD = -0;
private static Shooter shooter;
private static HallEffectSensor hallEffect;
- private final CANTalon flyWheel, indexWheel;
+ private final CANTalon flyWheel1, flyWheel2, indexWheel;
public static final double DEFAULT_INDEXING_SPEED = 0;
public static final double DEFAULT_SHOOTING_SPEED = 0;
public static final double SHOOTING_SPEED_INCREMENT = 0;
private Shooter() {
- flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
+ 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);
* motor value from -1 to 1(fastest forward)
*/
public void setFlyWheelMotorVal(final double val) {
- flyWheel.set(val);
+ flyWheel1.set(val);
+ flyWheel2.set(val);
}
/**
* Stops fly wheel motor.
*/
public void stopFlyWheel() {
- flyWheel.set(0);
+ flyWheel1.set(0);
+ flyWheel2.set(0);
}
/**