public class Shooter
extends edu.wpi.first.wpilibj.command.Subsystem
Modifier and Type | Class and Description |
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static class |
Shooter.states |
Modifier and Type | Field and Description |
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private Shooter.states |
m_currentState |
(package private) PIDController |
m_pid |
(package private) edu.wpi.first.wpilibj.CANTalon |
m_talon1 |
(package private) edu.wpi.first.wpilibj.CANTalon |
m_talon2 |
(package private) double |
m_velocity |
Constructor and Description |
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Shooter()
Shooter -- construct the wheels and the sensor used for shooting/intaking boulders
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Modifier and Type | Method and Description |
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Shooter.states |
getCurrentState()
Returns the current state of the shooter
|
void |
initDefaultCommand()
Set the default command for the subsystem.
|
void |
intakeBoulder()
intakeBoulder -- sets the state to INTAKE and runs the motors inward to intake a boulder
|
private double |
makeInRange(double a,
double b,
double c)
makeInRange -- ???
|
void |
shootBoulder()
shootBoulder - sets the state to SHOOT and runs the motors outward at a consistent speed to
shoot a boulder (hopefully) straight.
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void |
stopMotors()
stopMotors -- sets the state to STOP and stops the motors.
|
edu.wpi.first.wpilibj.CANTalon m_talon1
edu.wpi.first.wpilibj.CANTalon m_talon2
PIDController m_pid
double m_velocity
private Shooter.states m_currentState
public Shooter()
public void initDefaultCommand()
initDefaultCommand
in class edu.wpi.first.wpilibj.command.Subsystem
public void shootBoulder()
public void intakeBoulder()
public void stopMotors()
public Shooter.states getCurrentState()
private double makeInRange(double a, double b, double c)
a
- ??b
- ??c
- ??