Shooter (InfiniteRecharge API)

java.lang.Object
- edu.wpi.first.wpilibj2.command.SubsystemBase
- - frc.robot.subsystems.cellmech.Shooter

All Implemented Interfaces:

edu.wpi.first.wpilibj.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
```
public class Shooter
extends edu.wpi.first.wpilibj2.command.SubsystemBase
```
Robot Shooter subsystem

Field Summary

Fields
Modifier and Type Field Description

static Shooter s_instance

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`static Shooter`	`getInstance()`	Get the instance of Shooter
`double`	`getOutput()`
`double`	`getVelocityFromLimelight()`
`void`	`handleUnjam(boolean newState)`	Handle unjamming the power cells
`boolean`	`isInPosition()`
`boolean`	`isSpunUp()`	Check if the flywheel has spun up
`void`	`periodic()`
`void`	`setInPosition(boolean inPosition)`
`void`	`setOutputPercent(double val)`
`void`	`setVelocity(double val)`
`void`	`stop()`

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase
addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.Sendable
addChild, setName, setName, setName

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem
getCurrentCommand, getDefaultCommand, register, setDefaultCommand

- Field Detail
  - s_instance
```
public static Shooter s_instance
```
- Method Detail
  - getInstance
```
public static Shooter getInstance()
```
    Get the instance of Shooter
    
    Returns:
    
    Shooter Instance
  - periodic
```
public void periodic()
```
  - handleUnjam
```
public void handleUnjam(boolean newState)
```
    Handle unjamming the power cells
    
    Parameters:
    
    newState - Is this state new?
  - setOutputPercent
```
public void setOutputPercent(double val)
```
  - setVelocity
```
public void setVelocity(double val)
```
  - stop
```
public void stop()
```
  - isSpunUp
```
public boolean isSpunUp()
```
    Check if the flywheel has spun up
    
    Returns:
    
    Has spun up?
  - getOutput
```
public double getOutput()
```
  - setInPosition
```
public void setInPosition(boolean inPosition)
```
    Parameters:
    
    inPosition - Is the bot in position to score?
  - isInPosition
```
public boolean isInPosition()
```
    Returns:
    
    Is the bot in position to score?
  - getVelocityFromLimelight
```
public double getVelocityFromLimelight()
```
    Returns:
    
    Desired flywheel velocity in RPM based on distance to target.