import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
/***
* The Shooter consists of a platform and wheel, each controlled by separate
*
*/
-public class Shooter extends Subsystem {
+public class Shooter extends PIDSubsystem {
+ private static double kp = 0.013, ki = 0.000015, kd = -0.002;
+ private static double encoderTolerance = 5.0;
+
private CANTalon shooter;
private DoubleSolenoid hood, punch;
private Encoder encoder;
private Lidar lidar;
public Shooter() {
+ super(kp, ki, kd);
+
shooter = new CANTalon(Constants.Shooter.PORT);
hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
Constants.Shooter.HOOD_REVERSE);
@Override
protected void initDefaultCommand() {
}
+
+ @Override
+ protected double returnPIDInput() {
+ // TODO Auto-generated method stub
+ return 0;
+ }
+
+ @Override
+ protected void usePIDOutput(double output) {
+ // TODO Auto-generated method stub
+
+ }
+
+ public void setEncoderPID() {
+ this.setAbsoluteTolerance(encoderTolerance);
+ this.setOutputRange(-1.0, 1.0);
+ this.setInputRange(-200.0, 200.0);
+ this.enable();
+ }
}