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Resurrect dead commits deletd by merge conflict with hersh
[3501/stronghold-2016]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
subsystems
/
Shooter.java
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 26763d0ed497c848e1565834993c1dfe7301e691..40581afee5a3a7e523b82d1beb2d6aa010971020 100755
(executable)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@
-1,6
+1,7
@@
package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
@@
-21,15
+22,15
@@
import edu.wpi.first.wpilibj.command.Subsystem;
public class Shooter extends Subsystem {
private CANTalon shooter;
public class Shooter extends Subsystem {
private CANTalon shooter;
- private CANTalon angleAdjuster;
- private DoubleSolenoid punch;
+ private DoubleSolenoid hood, punch;
private Encoder encoder;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
private Encoder encoder;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
- angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
- punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
- Constants.Shooter.PUNCH_REVERSE_PORT);
+ hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+ Constants.Shooter.HOOD_REVERSE);
+ punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
+ Constants.Shooter.PUNCH_REVERSE);
encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
@@
-48,12
+49,8
@@
public class Shooter extends Subsystem {
}
public void setSpeed(double speed) {
}
public void setSpeed(double speed) {
- if (speed > 1.0)
- shooter.set(1.0);
- else if (speed < -1.0)
- shooter.set(-1.0);
- else
- shooter.set(speed);
+ speed = MathLib.constrain(speed, -1, 1);
+ shooter.set(speed);
}
public void stop() {
}
public void stop() {
@@
-67,12
+64,12
@@
public class Shooter extends Subsystem {
// Use negative # for decrement. Positive for increment.
public void changeSpeed(double change) {
// Use negative # for decrement. Positive for increment.
public void changeSpeed(double change) {
- double newSpeed = get
CurrentSetPoint
() + change;
+ double newSpeed = get
Speed
() + change;
setSpeed(newSpeed);
}
// Punch Commands
setSpeed(newSpeed);
}
// Punch Commands
- public void
extendP
unch() {
+ public void
p
unch() {
punch.set(Constants.Shooter.punch);
}
punch.set(Constants.Shooter.punch);
}
@@
-80,6
+77,18
@@
public class Shooter extends Subsystem {
punch.set(Constants.Shooter.retract);
}
punch.set(Constants.Shooter.retract);
}
+ public boolean isHoodOpen() {
+ return hood.get() == Constants.Shooter.open;
+ }
+
+ public void openHood() {
+ hood.set(Constants.Shooter.open);
+ }
+
+ public void closeHood() {
+ hood.set(Constants.Shooter.closed);
+ }
+
@Override
protected void initDefaultCommand() {
}
@Override
protected void initDefaultCommand() {
}