public RunFlyWheel(double maxTimeOut) {
- this.wheelP = this.shooter.wheelP;
- this.wheelI = this.shooter.wheelI;
- this.wheelD = this.shooter.wheelD;
+ this.wheelP = this.shooter.getWheelP();
+ this.wheelI = this.shooter.getWheelI();
+ this.wheelD = this.shooter.getWheelD();
this.wheelController = new PIDController(this.wheelP, this.wheelI,
this.wheelD);
this.wheelController.setDoneRange(0.5);
this.wheelController.setMaxOutput(1.0);
this.wheelController.setMinDoneCycles(3);
- this.target = this.shooter.CURRENT_SHOOTING_SPEED;
+ this.target = this.shooter.getShootingSpeed();
}
// Called just before this Command runs the first time
double shooterSpeed = this.wheelController
.calcPID(this.shooter.getShooterRPM());
- this.shooter.setFlyWheelMotorVal(shooterSpeed);
+ this.shooter.runFlyWheel();
}
// Make this return true when this Command no longer needs to run execute()
private double target;
public RunFlyWheelContinuous() {
- this.wheelP = this.shooter.wheelP;
- this.wheelI = this.shooter.wheelI;
- this.wheelD = this.shooter.wheelD;
+ this.wheelP = this.shooter.getWheelP();
+ this.wheelI = this.shooter.getWheelI();
+ this.wheelD = this.shooter.getWheelD();
this.wheelController = new PIDController(this.wheelP, this.wheelI,
this.wheelD);
this.wheelController.setDoneRange(0.5);
this.wheelController.setMaxOutput(1.0);
this.wheelController.setMinDoneCycles(3);
- this.target = this.shooter.CURRENT_SHOOTING_SPEED;
+ this.target = this.shooter.getShootingSpeed();
}
@Override
//
// this.shooter.setFlyWheelMotorVal(shooterSpeed);
System.out.println(shooter.getShooterRPM());
- this.shooter.setFlyWheelMotorVal(this.shooter.CURRENT_SHOOTING_SPEED);
+ this.shooter.runFlyWheel();
}
@Override
import edu.wpi.first.wpilibj.command.Subsystem;
public class Shooter extends Subsystem {
- public double wheelP = 0, wheelI = 0, wheelD = -0;
+ private double wheelP = 0, wheelI = 0, wheelD = -0;
private static Shooter shooter;
- private static HallEffectSensor hallEffect;
+ private HallEffectSensor hallEffect;
private final CANTalon flyWheel1, flyWheel2, indexWheel;
- public static final double DEFAULT_INDEXING_SPEED = -0.75;
- public static final double DEFAULT_SHOOTING_SPEED = 0.75;
- public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
+ private static final double DEFAULT_INDEXING_SPEED = -0.75;
+ private static final double DEFAULT_SHOOTING_SPEED = 0.75;
+ private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
- public static final double SHOOTING_SPEED_INCREMENT = 0.05;
+ private static final double SHOOTING_SPEED_INCREMENT = 0.05;
private Shooter() {
flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
}
- public static HallEffectSensor getHallEffectSensor() {
- return hallEffect;
- }
-
/**
* Returns shooter object
*
* @param val
* motor value from -1 to 1(fastest forward)
*/
- public void setFlyWheelMotorVal(final double val) {
+ private void setFlyWheelMotorVal(final double val) {
flyWheel1.set(val);
flyWheel2.set(val);
}
+ public void incrementCurrentShootingSpeed() {
+ currentShootingSpeed += SHOOTING_SPEED_INCREMENT;
+ }
+
+ public void runFlyWheel() {
+ flyWheel1.set(currentShootingSpeed);
+ }
+
/**
* Stops fly wheel motor.
*/
}
/**
- * Sets index wheel motor value to input.
- *
- * @param val
- * motor value from -1 to 1(fastest forward)
+ * Stops index wheel motor.
*/
- public void setIndexWheelMotorVal(final double val) {
- indexWheel.set(val);
+ public void stopIndexWheel() {
+ indexWheel.set(0);
}
/**
- * Stops index wheel motor.
+ * Run the index wheel forwards
*/
- public void stopIndexWheel() {
- indexWheel.set(0);
+ public void runIndexWheelForward() {
+ indexWheel.set(currentShootingSpeed);
+ }
+
+ /**
+ * Run the index wheel backwards
+ */
+ public void runIndexWheelReverse() {
+ indexWheel.set(-currentShootingSpeed);
}
@Override
public double getShooterRPM() {
return hallEffect.getRPM();
}
+
+ public void decrementCurrentShootingSpeed() {
+ currentShootingSpeed -= SHOOTING_SPEED_INCREMENT;
+
+ }
+
+ public void resetCurrentShootingSpeed() {
+ currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
+ }
+
+ /**
+ * @return the wheelP
+ */
+ public double getWheelP() {
+ return wheelP;
+ }
+
+ /**
+ * @return the wheelI
+ */
+ public double getWheelI() {
+ return wheelI;
+ }
+
+ /**
+ * @return the wheelD
+ */
+ public double getWheelD() {
+ return wheelD;
+ }
+
+ /**
+ * @return the currentShootingSpeed
+ */
+ public double getShootingSpeed() {
+ return currentShootingSpeed;
+ }
+
}