Shooter.java

package org.homestead.robotics.robot;

import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.Relay;

/**
 *
 * @author Driver
 */
public class Shooter
{
    private static final double SHOOTER_SPEED = 1.0;
    private static final double OPTIMAL_VOLTAGE = 12;
    private static final double THROTTLE_STEP = 0.1;
    private static final double DEFAULT_THROTTLE = 1;
    private Jaguar shooterMotor1;
    private Jaguar shooterMotor2;
    private Relay pneuRelay;
    private double throttle = 1;

    public Shooter()
    {
        shooterMotor1 = new Jaguar(6);
        shooterMotor2 = new Jaguar(7);
        pneuRelay = new Relay(2);
    }

    public void shoot()
    {
        setMotorSpeed(throttle * SHOOTER_SPEED);
    }

    public void stopShooter()
    {
        setMotorSpeed(0);
    }

    public void setMotorSpeed(double speed)
    {
        shooterMotor1.set(speed);
        shooterMotor2.set(speed);
    }

    public void throttleDown()
    {
        throttle = Math.max(throttle - THROTTLE_STEP, 0);
    }

    public void throttleUp()
    {
        throttle += THROTTLE_STEP;
    }

    public double getThrottle()
    {
        return throttle;
    }

    public void voltageCompensation()
    {
        throttle = DEFAULT_THROTTLE * OPTIMAL_VOLTAGE / DriverStation.getInstance().getBatteryVoltage();
    }

    public void setForward()
    {
        pneuRelay.set(Relay.Value.kForward);
    }
    public void setOff()
    {
        pneuRelay.set(Relay.Value.kOff);
    }
    public void setReverse()
    {
        pneuRelay.set(Relay.Value.kReverse);
    }
}