ShooterSubsystem.h

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#pragma once
 
#include <util/algorithms/PID.h>
#include <util/communications/CANHandler.h>
#include <util/motor/DJIMotor.h>
#include "Subsystem.h"
 
// Constants
constexpr int NUM_BALLS_SHOT = 3;
constexpr int FLYWHEEL_VELO = 5500;
constexpr int HERO_FLYWHEEL_VELO = 7475;
 
// enum for states
enum ShootState {OFF, FLYWHEEL, SHOOT};
 
// struct for config
class ShooterSubsystem : public Subsystem
{
public:
    enum ShooterType {BURST, AUTO};
 
    struct config
    {
        ShooterType type;
        int heat_limit;
 
        short flywheelL_id;
        short flywheelR_id;
        short indexer_id;
 
        PID::config flywheelL_PID;
        PID::config flywheelR_PID;
        PID::config indexer_PID_vel;
        PID::config indexer_PID_pos;
 
        CANHandler::CANBus canBus;
 
        bool invert = false;
    };
 
    ShooterSubsystem(config configuration);
    
    void setState(ShootState shoot_state);
 
    void periodic(int curr_heat, int heat_limit);
 
private:
    unsigned long shooter_time;
    bool invert_flywheel;
 
    DJIMotor flywheelL, flywheelR, indexer;
 
    ShootState shoot;
    ShooterType shooter_type;
    
    int barrel_heat;
    int barrel_heat_limit;
    bool shootReady;
 
    int shootTargetPosition;
};