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add skeleton code for calculating angle to turn for shooting
[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 348752566e3a616fc3d54c298297bab3d173aff7..98131673509e3089bb5bf861062225cfe807423d 100755
(executable)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@
-10,8
+10,9
@@
import edu.wpi.first.wpilibj.command.Subsystem;
/***
* The Shooter consists of a platform and wheel, each controlled by
/***
* The Shooter consists of a platform and wheel, each controlled by
- * separate motors. The motor controlling the platform pushes the ball onto the
- * wheel. The wheel is controlled by a motor, which runs once the ball is pushed
+ * separate motors. The piston controlling the platform pushes the ball onto the
+ * wheel. The wheel is controlled by a motor, which is running before the ball
+ * is pushed
* onto the wheel. The spinning wheel propels the ball.
*
* @author superuser
* onto the wheel. The spinning wheel propels the ball.
*
* @author superuser
@@
-20,26
+21,21
@@
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;
private Encoder encoder;
+ private Lidar lidar;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
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);
- }
- /***
- *
- * @return current sensor position??
- */
- public double getCurrentSetPoint() {
- return shooter.get();
+ lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
}
/***
}
/***
@@
-74,19
+70,31
@@
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
p
unch() {
+ public void
extendP
unch() {
punch.set(Constants.Shooter.punch);
}
punch.set(Constants.Shooter.punch);
}
- public void re
se
tPunch() {
+ public void re
trac
tPunch() {
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() {
}