| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | |
| 5 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
| 6 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; |
| 7 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 8 | |
| 9 | /*** |
| 10 | * The Shooter consists of a platform and wheel, each controlled by separate |
| 11 | * motors. The piston controlling the platform pushes the ball onto the wheel. |
| 12 | * The wheel is controlled by a motor, which is running before the ball is |
| 13 | * pushed onto the wheel. The spinning wheel propels the ball. |
| 14 | * |
| 15 | * @author superuser |
| 16 | * |
| 17 | */ |
| 18 | |
| 19 | public class Shooter extends Subsystem { |
| 20 | private DoubleSolenoid catapult1, catapult2; |
| 21 | |
| 22 | public Shooter() { |
| 23 | catapult1 = new DoubleSolenoid(Constants.Shooter.CATAPULT1_MODULE, |
| 24 | Constants.Shooter.CATAPULT1_FORWARD, |
| 25 | Constants.Shooter.CATAPULT1_REVERSE); |
| 26 | catapult2 = new DoubleSolenoid(Constants.Shooter.CATAPULT2_MODULE, |
| 27 | Constants.Shooter.CATAPULT2_FORWARD, |
| 28 | Constants.Shooter.CATAPULT2_REVERSE); |
| 29 | } |
| 30 | |
| 31 | // Catapult Commands |
| 32 | public void fireCatapult() { |
| 33 | catapult1.set(Constants.Shooter.SHOOT); |
| 34 | catapult2.set(Constants.Shooter.SHOOT); |
| 35 | } |
| 36 | |
| 37 | public void resetCatapult() { |
| 38 | catapult1.set(Constants.Shooter.RESET); |
| 39 | catapult2.set(Constants.Shooter.RESET); |
| 40 | } |
| 41 | |
| 42 | public Value getCatapult1State() { |
| 43 | return catapult1.get(); |
| 44 | } |
| 45 | |
| 46 | public Value getCatapult2State() { |
| 47 | return catapult2.get(); |
| 48 | } |
| 49 | |
| 50 | @Override |
| 51 | protected void initDefaultCommand() { |
| 52 | } |
| 53 | } |