Shooter

.classpath

@@ -6,5 +6,6 @@
 	<classpathentry kind="var" path="opencv" sourcepath="opencv.sources"/>
 	<classpathentry kind="var" path="cscore" sourcepath="cscore.sources"/>
 	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER"/>
+	<classpathentry kind="var" path="USERLIBS_DIR/CTRLib.jar"/>
 	<classpathentry kind="output" path="bin"/>
 </classpath>

src/com/nutrons/nu17/OI.java

@@ -36,6 +36,7 @@ public OI() {
 		this.RAISE_PLACER.whenPressed(new RaiseGearPlacerCmd());
 		this.LOWER_PLACER.whenPressed(new LowerGearPlacerCmd());
 		this.SHOOT.whenPressed(new ShootShooterCmd());
+		this.SHOOT.whenReleased(new StopShooterCmd());
 		this.INTAKE.whenPressed(new GroundIntakeCmd());
 		this.INTAKE_SPIT.whenPressed(new GroundIntakeSpitCmd());
 	}

src/com/nutrons/nu17/Robot.java

@@ -1,26 +1,34 @@
 package com.nutrons.nu17;
 
 import edu.wpi.first.wpilibj.IterativeRobot;
+import edu.wpi.first.wpilibj.Preferences;
+import edu.wpi.first.wpilibj.command.Command;
 import edu.wpi.first.wpilibj.command.Scheduler;
 import edu.wpi.first.wpilibj.livewindow.LiveWindow;
+import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
 import com.nutrons.nu17.OI;
 import com.nutrons.nu17.subsystems.*;
 
 public class Robot extends IterativeRobot {
 
 	public final static TwinShooter TWIN_SHOOTER = new TwinShooter();
-	public final static Shooter SHOOTER = new Shooter();
+	public static Shooter SHOOTER = new Shooter();
 	public final static GroundIntake GROUND_INTAKE = new GroundIntake();
 	public final static DrivetrainGyro DT = new DrivetrainGyro();
 	public final static GearPlacer GP = new GearPlacer();
 	public final static Drivetrain DRIVE_TRAIN = new Drivetrain();
 	public final static Climber CLIMBER = new Climber();
-
 	public final static OI OI = new OI();
+	Preferences prefs;
+
+	Command autonomousCommand;
+	SendableChooser <Command> chooser = new SendableChooser<>();
 
 	@Override
 	public void robotInit() {
-		//empty
+		SmartDashboard.putData("Auto mode", chooser);
 	}
 
 	@Override
@@ -35,7 +43,10 @@ public void disabledPeriodic() {
 
 	@Override
 	public void autonomousInit() {
-		//empty
+		autonomousCommand = chooser.getSelected();
+
+		if (autonomousCommand !=null)
+				autonomousCommand.start();
 	}
 
 	@Override
@@ -45,16 +56,21 @@ public void autonomousPeriodic() {
 
 	@Override
 	public void teleopInit() {
-		//empty
+		prefs = Preferences.getInstance();
+		Shooter.SHOOTER_SPEED = prefs.getDouble("shooter_speed", 1.0);
 	}
 
 	@Override
 	public void teleopPeriodic() {
 		Scheduler.getInstance().run();
+
+
+		SmartDashboard.putNumber("current_shooter_power", Robot.SHOOTER.getRPM());
 	}
 
 	@Override
 	public void testPeriodic() {
 		LiveWindow.run();
 	}
+
 }

src/com/nutrons/nu17/commands/ShootShooterCmd.java

@@ -1,11 +1,13 @@
 package com.nutrons.nu17.commands;
 
+import com.ctre.CANTalon.TalonControlMode;
 import com.nutrons.nu17.Robot;
+import com.nutrons.nu17.subsystems.Shooter;
 
 import edu.wpi.first.wpilibj.command.Command;
 
 public class ShootShooterCmd extends Command {
-
+	
 	public ShootShooterCmd() {
 		requires(Robot.SHOOTER);
 	}
@@ -14,26 +16,25 @@ public ShootShooterCmd() {
 	 * Resets encoder and starts running motor at a consistent speed.
 	 */
 	protected void initialize() {
-		Robot.SHOOTER.resetEncoder();
-		Robot.SHOOTER.runShooter(1.0);
+		Robot.SHOOTER.SHOOTER.changeControlMode(TalonControlMode.Speed);
+		Robot.SHOOTER.SHOOTER.setSetpoint(Shooter.SHOOTER_SPEED);
+		Robot.SHOOTER.SHOOTER.enable();
 	}
 
-	/**
-	 * Keeps running motor to a consistent speed.
-	 */
 	protected void execute() {
-		Robot.SHOOTER.runShooter(Robot.SHOOTER.SPEED_PID.get());
+
 	}
+
 	// Don't want the shooter to stop
 	protected boolean isFinished() {
-		return false;
+		return true;
 	}
 
 	protected void end() {
-		Robot.SHOOTER.stopShooter();
+
 	}
-
+	
 	protected void interrupted() {
-		end();
+
 	}
 }

src/com/nutrons/nu17/commands/StopShooterCmd.java

@@ -0,0 +1,34 @@
+package com.nutrons.nu17.commands;
+
+import com.nutrons.nu17.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+
+public class StopShooterCmd extends Command {
+
+    public StopShooterCmd() {
+       requires(Robot.SHOOTER);
+    }
+
+    protected void initialize() {
+    	Robot.SHOOTER.SHOOTER.disable();
+    }
+
+
+    protected void execute() {
+    }
+
+
+    protected boolean isFinished() {
+        return true;
+    }
+
+
+    protected void end() {
+    }
+
+
+    protected void interrupted() {
+    }
+}

src/com/nutrons/nu17/subsystems/Shooter.java

@@ -1,69 +1,84 @@
 package com.nutrons.nu17.subsystems;
 
+import com.ctre.CANTalon;
+import com.ctre.CANTalon.FeedbackDevice;
+import com.ctre.CANTalon.TalonControlMode;
 import com.nutrons.nu17.Robot;
 import com.nutrons.nu17.RobotMap;
+import com.nutrons.nu17.commands.ShootShooterCmd;
 
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.PIDController;
 import edu.wpi.first.wpilibj.PIDSourceType;
 import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import lib.EncoderWrapper;
 import lib.HoldPID;
 
 public class Shooter extends Subsystem {
-
-	private final Talon SHOOTER = new Talon(RobotMap.SHOOTER);
-	private final Encoder SHOOTER_ENCODER = new Encoder(
-			RobotMap.SHOOT_ENCODER_1, 
-			RobotMap.SHOOT_ENCODER_2);
-	private EncoderWrapper encWrap = new EncoderWrapper(
-			PIDSourceType.kDisplacement,
-			SHOOTER_ENCODER,
-			RobotMap.SHOOT_ENCODER_1,
-			RobotMap.SHOOT_ENCODER_2);
-
-	private HoldPID shootHold = new HoldPID();
+	public static double SHOOTER_SPEED = 10.0;
 
-	public Shooter() {
-		//empty
-	}
+	public CANTalon SHOOTER = new CANTalon(RobotMap.SHOOTER);
 
 	// TODO: tune these constants
-	private static final double P_SHOOT = 0.025;
-	private static final double I_SHOOT = 0.0;
-	private static final double D_SHOOT = 0.01;
+	public static double P_SHOOT = 0.025;
+	public static double I_SHOOT = 0.0;
+	public static double D_SHOOT = 0.01;
+	public static double F_SHOOT = 0.025;
 
-	public final PIDController SPEED_PID = new PIDController(
-			P_SHOOT, 
-			I_SHOOT, 
-			D_SHOOT,
-			encWrap, 
-			shootHold);
+	public Shooter() {
+		this.SHOOTER.configNominalOutputVoltage(+0.0f, -0.0f);
+		this.SHOOTER.configPeakOutputVoltage(+12.0f, 0.0f);
+		this.SHOOTER.configEncoderCodesPerRev((int)(256 / 0.14));
+		this.SHOOTER.configEncoderCodesPerRev((int)(256 / 0.14));
+		this.SHOOTER.setFeedbackDevice(FeedbackDevice.QuadEncoder);
+		this.SHOOTER.setP(P_SHOOT);
+		this.SHOOTER.setI(I_SHOOT);
+		this.SHOOTER.setD(D_SHOOT);
+		this.SHOOTER.setF(F_SHOOT);
+
+	}
 
 	public void initDefaultCommand() {
+		setDefaultCommand(new ShootShooterCmd());
+
 	}
-
 	/**
-	 * Runs shooter at given param power.
-	 * 
-	 * @param power Speed to run the shooting motor.
+	 * Changes to manual and sets the speed
+	 * @param speed Speed of shooter
 	 */
-	public void runShooter(double power) {
-		this.SHOOTER.set(power);
+	public void setOpenLoop(double speed){
+		this.SHOOTER.changeControlMode(TalonControlMode.PercentVbus);
+		this.SHOOTER.set(speed);
+	}
+	/**
+	 * Changes to closed loop.
+	 * Sets the RPM from the shooter
+	 */
+	public void setRPM(double rpm){
+		this.SHOOTER.changeControlMode(TalonControlMode.Speed);
+		this.SHOOTER.set(rpm);
 	}
 
 	/**
 	 * Cuts the power to the shooter, setting it to 0.0.
 	 */
 	public void stopShooter() {
-		runShooter(0.0);
+		setOpenLoop(0.0);
+	}
+	/**
+	 * 
+	 * Gets RPM from shooter
+	 */
+	public double getRPM(){
+		return this.SHOOTER.getSpeed();
 	}
 
 	/**
 	 * Resets Encoder.
 	 */
 	public void resetEncoder() {
-		SHOOTER_ENCODER.reset();
+		this.SHOOTER.setEncPosition(0);
 	}
 }

src/com/nutrons/nu17/subsystems/TwinShooter.java

@@ -72,7 +72,7 @@ public void initDefaultCommand() {
 	 * @param power Speed to run the first shooting motor at.
 	 */
 	public void runTwinA(double power) {
-		TWIN_A.runShooter(power);
+		TWIN_A.setRPM(power);
 	}
 
 	/**
@@ -81,7 +81,7 @@ public void runTwinA(double power) {
 	 * @param power Speed to run the second shooting motor at.
 	 */
 	public void runTwinB(double power) {
-		TWIN_B.runShooter(power);
+		TWIN_B.setRPM(power);
 	}
 
 	/**
@@ -98,14 +98,14 @@ public void twinRun(double power) {
 	 * Stops the first shooting motor.
 	 */
 	public void stopTwinA() {
-		TWIN_A.runShooter(0.0);
+		TWIN_A.setRPM(0.0);
 	}
 
 	/**
 	 * Stops the second shooting motor.
 	 */
 	public void stopTwinB() {
-		TWIN_B.runShooter(0.0);
+		TWIN_B.setRPM(0.0);
 	}
 
 	/**