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44 lines
1.5 KiB
C++
44 lines
1.5 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 <frc/Encoder.h>
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#include <frc/controller/PIDController.h>
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#include <frc/controller/SimpleMotorFeedforward.h>
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#include <frc/motorcontrol/PWMSparkMax.h>
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#include <frc2/command/CommandPtr.h>
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#include <frc2/command/SubsystemBase.h>
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#include <units/angle.h>
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#include <units/angular_velocity.h>
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#include "Constants.h"
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class Shooter : public frc2::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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frc2::CommandPtr ShootCommand(units::turns_per_second_t setpoint);
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private:
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frc::PWMSparkMax m_shooterMotor{ShooterConstants::kShooterMotorPort};
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frc::PWMSparkMax m_feederMotor{ShooterConstants::kFeederMotorPort};
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frc::Encoder m_shooterEncoder{ShooterConstants::kEncoderPorts[0],
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ShooterConstants::kEncoderPorts[1],
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ShooterConstants::kEncoderReversed};
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frc::SimpleMotorFeedforward<units::radians> m_shooterFeedforward{
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ShooterConstants::kS, ShooterConstants::kV};
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frc::PIDController m_shooterFeedback{ShooterConstants::kP, 0.0, 0.0};
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};
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