class Shooter:
left_fly = CANTalon
right_fly = CANTalon
intake_main = CANTalon
intake_mecanum = Talon
ball_limit = DigitalInput
def __init__(self):
self.left_fly = CANTalon(motor_map.left_fly_motor)
self.right_fly = CANTalon(motor_map.right_fly_motor)
self.intake_main = CANTalon(motor_map.intake_main_motor)
self.intake_mecanum = Talon(motor_map.intake_mecanum_motor)
self.ball_limit = DigitalInput(sensor_map.ball_limit)
self.intake_mecanum.setInverted(True)
self.left_fly.reverseOutput(True)
self.left_fly.enableBrakeMode(False)
self.right_fly.enableBrakeMode(False)
self.left_fly.setControlMode(CANTalon.ControlMode.Speed)
self.right_fly.setControlMode(CANTalon.ControlMode.Speed)
self.left_fly.setPID(sensor_map.shoot_P, sensor_map.shoot_I,
sensor_map.shoot_D, sensor_map.shoot_F,
sensor_map.shoot_Izone, sensor_map.shoot_RR,
sensor_map.shoot_Profile)
self.right_fly.setPID(sensor_map.shoot_P, sensor_map.shoot_I,
sensor_map.shoot_D, sensor_map.shoot_F,
sensor_map.shoot_Izone, sensor_map.shoot_RR,
sensor_map.shoot_Profile)
self.left_fly.setFeedbackDevice(CANTalon.FeedbackDevice.EncRising)
self.right_fly.setFeedbackDevice(CANTalon.FeedbackDevice.EncRising)
self.left_fly.configEncoderCodesPerRev(sensor_map.shoot_codes_per_rev)
self.right_fly.configEncoderCodesPerRev(sensor_map.shoot_codes_per_rev)
def warm_up(self):
self.set_rpm(2500) # Warm up flywheels to get ready to shoot
def low_goal(self):
self.set_rpm(500)
def set_rpm(self, rpm_l_set, rpm_r_set=None):
if rpm_r_set is None:
rpm_r_set = rpm_l_set
self.left_fly.set(rpm_l_set)
self.right_fly.set(rpm_r_set)
def get_rpms(self):
return self.left_fly.get(), self.right_fly.get()
def set_fly_off(self):
self.set_rpm(0)
def set_intake(self, power):
self.intake_mecanum.set(-power)
self.intake_main.set(power)
def get_intake(self):
return self.intake_main.get()
def set_intake_off(self):
self.set_intake(0)
def get_ball_limit(self):
return not bool(self.ball_limit.get())
def execute(self):
if int(self.left_fly.getOutputCurrent()) > 20 \
or int(self.left_fly.getOutputCurrent()) > 20:
self.set_rpm(0, 0)
