org.firstinspires.ftc.teamcode.hardware

Class Shooter

java.lang.Object

org.firstinspires.ftc.teamcode.hardware.Shooter

public class Shooter
extends java.lang.Object

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Shooter.FlywheelMode
static class	Shooter.IndexerMode

Field Summary

Fields

Modifier and Type	Field and Description
static double	DEFAULT_SHOOTING_SPEED
static double	DEFAULT_SHOOTING_SPEED_TOLERANCE
com.qualcomm.robotcore.hardware.DcMotorEx	flywheel
Shooter.FlywheelMode	flywheelMode
com.qualcomm.robotcore.hardware.Servo	indexer
Shooter.IndexerMode	indexerMode
static int	MAX_RPM
static int	MAX_TICKS_PER_SEC
static int	TICKS_PER_REVOLUTION

Constructor Summary

Constructors

Constructor and Description
Shooter(DeviceManager deviceManager) Constructs a Shooter object given the robot's device manager

Method Summary

Modifier and Type	Method and Description
static double	getShootingSpeed(double percent) Returns the shooting speed in ticks per second given a desired percentage of the motor's max speed as a decimal
boolean	isAtTargetVelocity() Returns true if the flywheel motor is at default target velocity (within the default shooting speed tolerance).
boolean	isAtTargetVelocity(double targetVelocityPercent) Returns true if the flywheel motor is at a given target velocity (within the default shooting speed tolerance).
boolean	isAtTargetVelocity(double targetVelocityPercent, double tolerance) Returns true if the flywheel motor is at a given target velocity (within a given shooting speed tolerance).
void	pushRing() Puts the indexer in SHOOT mode, pushing a ring toward the flywheel
void	readyIndexer() Puts the indexer in READY mode
void	speedUpFlywheel() Speeds up the flywheel to the default shooting speed of 80% of max speed
void	speedUpFlywheel(double percent) Speeds up the flywheel to a percentage of the max speed
void	stopFlywheel() Stops running the flywheel motor

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

flywheel

public com.qualcomm.robotcore.hardware.DcMotorEx flywheel

indexer

public com.qualcomm.robotcore.hardware.Servo indexer

TICKS_PER_REVOLUTION

public static final int TICKS_PER_REVOLUTION

See Also:

Constant Field Values

MAX_RPM

public static final int MAX_RPM

See Also:

Constant Field Values

MAX_TICKS_PER_SEC

public static final int MAX_TICKS_PER_SEC

See Also:

Constant Field Values

flywheelMode

public Shooter.FlywheelMode flywheelMode

indexerMode

public Shooter.IndexerMode indexerMode

DEFAULT_SHOOTING_SPEED

public static final double DEFAULT_SHOOTING_SPEED

See Also:

Constant Field Values

DEFAULT_SHOOTING_SPEED_TOLERANCE

public static final double DEFAULT_SHOOTING_SPEED_TOLERANCE

See Also:

Constant Field Values

Constructor Detail

Shooter

public Shooter(DeviceManager deviceManager)

Constructs a Shooter object given the robot's device manager

Parameters:

deviceManager - the robot's device manager

Method Detail

getShootingSpeed

public static double getShootingSpeed(double percent)

Returns the shooting speed in ticks per second given a desired percentage of the motor's max speed as a decimal

Parameters:

percent - percent of the motor's max speed as a decimal

Returns:

the shooting speed in ticks per second

speedUpFlywheel

public void speedUpFlywheel()

Speeds up the flywheel to the default shooting speed of 80% of max speed

speedUpFlywheel

public void speedUpFlywheel(double percent)

Speeds up the flywheel to a percentage of the max speed

Parameters:

percent - percentage of the max speed as a decimal

stopFlywheel

public void stopFlywheel()

Stops running the flywheel motor

isAtTargetVelocity

public boolean isAtTargetVelocity()

Returns true if the flywheel motor is at default target velocity (within the default shooting speed tolerance).

Returns:

true if the flywheel motor is at target velocity

isAtTargetVelocity

public boolean isAtTargetVelocity(double targetVelocityPercent)

Returns true if the flywheel motor is at a given target velocity (within the default shooting speed tolerance).

Parameters:

targetVelocityPercent - target velocity of the flywheel motor, as a percent (decimal) of the max motor speed

Returns:

true if the flywheel motor is at target velocity

isAtTargetVelocity

public boolean isAtTargetVelocity(double targetVelocityPercent,
                                  double tolerance)

Returns true if the flywheel motor is at a given target velocity (within a given shooting speed tolerance).

Parameters:

targetVelocityPercent - target velocity of the flywheel motor, as a percent (decimal) of the max motor speed

tolerance - target velocity tolerance, as a percent (decimal) of the calculated target velocity

Returns:

true if the flywheel motor is at target velocity

pushRing

public void pushRing()

Puts the indexer in SHOOT mode, pushing a ring toward the flywheel

readyIndexer

public void readyIndexer()

Puts the indexer in READY mode