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https://github.com/wpilibsuite/allwpilib
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44 lines
1.6 KiB
C++
44 lines
1.6 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include <wpi/commands2/CommandPtr.hpp>
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#include <wpi/commands2/SubsystemBase.hpp>
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#include <wpi/hardware/motor/PWMSparkMax.hpp>
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#include <wpi/hardware/rotation/Encoder.hpp>
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#include <wpi/math/controller/PIDController.hpp>
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#include <wpi/math/controller/SimpleMotorFeedforward.hpp>
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#include <wpi/units/angle.hpp>
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#include <wpi/units/angular_velocity.hpp>
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#include "Constants.hpp"
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class Shooter : public wpi::cmd::SubsystemBase {
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public:
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Shooter();
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/**
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* Returns a command to shoot the balls currently stored in the robot. Spins
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* the shooter flywheel up to the specified setpoint, and then runs the feeder
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* motor.
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*
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* @param setpointRotationsPerSecond The desired shooter velocity
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*/
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wpi::cmd::CommandPtr ShootCommand(wpi::units::turns_per_second_t setpoint);
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private:
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wpi::PWMSparkMax m_shooterMotor{ShooterConstants::kShooterMotorPort};
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wpi::PWMSparkMax m_feederMotor{ShooterConstants::kFeederMotorPort};
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wpi::Encoder m_shooterEncoder{ShooterConstants::kEncoderPorts[0],
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ShooterConstants::kEncoderPorts[1],
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ShooterConstants::kEncoderReversed};
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wpi::math::SimpleMotorFeedforward<wpi::units::radians> m_shooterFeedforward{
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ShooterConstants::kS, ShooterConstants::kV};
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wpi::math::PIDController m_shooterFeedback{ShooterConstants::kP, 0.0, 0.0};
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};
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