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| Original file line number | Diff line number | Diff line change |
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| @@ -1,85 +1,69 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package frc.robot.subsystems; | ||
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| import com.ctre.phoenix.motorcontrol.TalonSRXControlMode; | ||
| import com.ctre.phoenix.motorcontrol.can.TalonSRX; | ||
| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.CANSparkLowLevel.MotorType; | ||
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| import edu.wpi.first.wpilibj.Preferences; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import edu.wpi.first.wpilibj.Preferences; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.Constants; | ||
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| public class Shooter extends SubsystemBase { | ||
| private static final double DEADZONE = 0.05; | ||
| private TalonSRX m_ShooterMotorLeft; | ||
| private TalonSRX m_ShooterMotorRight; | ||
| private CANSparkMax m_ShooterMotorLeft; | ||
| private CANSparkMax m_ShooterMotorRight; | ||
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| private double realLeftSpeed = Constants.ShooterConstants.shooterLeftSpeedSpeaker; | ||
| private double realRightSpeed = Constants.ShooterConstants.shooterRightSpeedSpeaker; | ||
| private double realLeftSpeed = Constants.ShooterConstants.shooterLeftSpeedSpeaker; | ||
| private double realRightSpeed = Constants.ShooterConstants.shooterRightSpeedSpeaker; | ||
| static Shooter instance = null; | ||
| /** Creates a new Shooter. */ | ||
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| /** Creates a new Shooter. */ | ||
| public Shooter() { | ||
| m_ShooterMotorLeft = new TalonSRX(Constants.ShooterConstants.shooterLeftID); | ||
| m_ShooterMotorRight = new TalonSRX(Constants.ShooterConstants.shooterRightID); | ||
| // Preferences.initDouble(Constants.ShooterConstants.leftSpeedKey, realLeftSpeed); | ||
| m_ShooterMotorLeft = new CANSparkMax(Constants.ShooterConstants.shooterLeftID, MotorType.kBrushless); | ||
| m_ShooterMotorRight = new CANSparkMax(Constants.ShooterConstants.shooterRightID, MotorType.kBrushless); | ||
| Preferences.initDouble(Constants.ShooterConstants.rightSpeedKey, realRightSpeed); | ||
| } | ||
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| // Retrieve instance of shooter | ||
| // Retrieve instance of shooter | ||
| public static Shooter getInstance(){ | ||
| if(instance == null) instance = new Shooter(); | ||
| return instance; | ||
| if(instance == null) instance = new Shooter(); | ||
| return instance; | ||
| } | ||
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| // move shooter motors | ||
| // Move shooter motors | ||
| public void shoot(double rotateLeft, double rotateRight){ | ||
| if(Math.abs(rotateLeft) < DEADZONE) rotateLeft = 0; | ||
| if(Math.abs(rotateRight) < DEADZONE) rotateRight = 0; | ||
| moveLeftMotor(rotateLeft); | ||
| moveRightMotor(rotateRight); | ||
| if(Math.abs(rotateLeft) < DEADZONE) rotateLeft = 0; | ||
| if(Math.abs(rotateRight) < DEADZONE) rotateRight = 0; | ||
| moveLeftMotor(rotateLeft); | ||
| moveRightMotor(rotateRight); | ||
| } | ||
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| // move left motor | ||
| // Move left motor | ||
| public void moveLeftMotor(double rotateLeft){ | ||
| if(Math.abs(rotateLeft) < DEADZONE) rotateLeft = 0; | ||
| m_ShooterMotorLeft.set(TalonSRXControlMode.PercentOutput, rotateLeft); | ||
| if(Math.abs(rotateLeft) < DEADZONE) rotateLeft = 0; | ||
| m_ShooterMotorLeft.set(rotateLeft); | ||
| } | ||
|
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| // move right motor | ||
| // Move right motor | ||
| public void moveRightMotor(double rotateRight){ | ||
| if(Math.abs(rotateRight) < DEADZONE) rotateRight = 0; | ||
| m_ShooterMotorRight.set(TalonSRXControlMode.PercentOutput, rotateRight); | ||
| if(Math.abs(rotateRight) < DEADZONE) rotateRight = 0; | ||
| m_ShooterMotorRight.set(rotateRight); | ||
| } | ||
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| public double getCurrent() { | ||
| return (m_ShooterMotorLeft.getSupplyCurrent() + m_ShooterMotorRight.getSupplyCurrent()) / 2; | ||
| return (m_ShooterMotorLeft.getOutputCurrent() + m_ShooterMotorRight.getOutputCurrent()) / 2; | ||
| } | ||
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| @Override | ||
| @Override | ||
| public void periodic() { | ||
| SmartDashboard.putNumber("current left", m_ShooterMotorLeft.getSupplyCurrent()); | ||
| SmartDashboard.putNumber("current right", m_ShooterMotorRight.getSupplyCurrent()); | ||
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| Constants.ShooterConstants.shooterLeftSpeedSpeaker = Preferences.getDouble(Constants.ShooterConstants.leftSpeedKey, realLeftSpeed); | ||
| Constants.ShooterConstants.shooterRightSpeedSpeaker = Preferences.getDouble(Constants.ShooterConstants.rightSpeedKey, realRightSpeed); | ||
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| // SmartDashboard.putNumber("Speed Left Speaker", Constants.ShooterConstants.shooterLeftSpeedSpeaker); | ||
| // SmartDashboard.putNumber("Speed Right Speaker", Constants.ShooterConstants.shooterRightSpeedSpeaker); | ||
| // SmartDashboard.putNumber("Speed Left Amp", Constants.ShooterConstants.shooterLeftSpeedAmp); | ||
| // SmartDashboard.putNumber("Speed Right Amp", Constants.ShooterConstants.shooterRightSpeedAmp); | ||
| // SmartDashboard.putNumber("Outtake speed", Constants.IntakeConstants.rollerSpeedOuttake); | ||
| SmartDashboard.putNumber("current left", m_ShooterMotorLeft.getOutputCurrent()); | ||
| SmartDashboard.putNumber("current right", m_ShooterMotorRight.getOutputCurrent()); | ||
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| // Constants.ShooterConstants.shooterLeftSpeedSpeaker = SmartDashboard.getNumber("Speed Left Speaker", Constants.ShooterConstants.shooterLeftSpeedSpeaker); | ||
| // Constants.ShooterConstants.shooterRightSpeedSpeaker = SmartDashboard.getNumber("Speed Right Speaker", Constants.ShooterConstants.shooterRightSpeedSpeaker); | ||
| // Constants.ShooterConstants.shooterLeftSpeedAmp = SmartDashboard.getNumber("Speed Left Amp", Constants.ShooterConstants.shooterLeftSpeedAmp); | ||
| // Constants.ShooterConstants.shooterRightSpeedAmp = SmartDashboard.getNumber("Speed Right Amp", Constants.ShooterConstants.shooterRightSpeedAmp); | ||
| // Constants.IntakeConstants.rollerSpeedOuttake = SmartDashboard.getNumber("Outtake speed", Constants.IntakeConstants.rollerSpeedOuttake); | ||
| // This method will be called once per scheduler run | ||
| Constants.ShooterConstants.shooterLeftSpeedSpeaker = Preferences.getDouble(Constants.ShooterConstants.leftSpeedKey, realLeftSpeed); | ||
| Constants.ShooterConstants.shooterRightSpeedSpeaker = Preferences.getDouble(Constants.ShooterConstants.rightSpeedKey, realRightSpeed); | ||
| } | ||
| } |