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 static final double SHOOTING_SPEED_INCREMENT = 0.05;
+ 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.DriveTrain.MODULE_NUMBER,
+ Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
}
public static HallEffectSensor getHallEffectSensor() {
public double getShooterRPM() {
return hallEffect.getRPM();
}
+
+ 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);
+ }
}