package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Lidar;
+import org.usfirst.frc.team3501.robot.MathLib;
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.command.Subsystem;
/***
- * 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
- * onto the wheel. The spinning wheel propels the ball.
+ * The Shooter consists of a platform and wheel, each controlled by 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
*
public class Shooter extends Subsystem {
private CANTalon shooter;
private CANTalon angleAdjuster;
- private DoubleSolenoid punch;
+ private DoubleSolenoid hood, punch;
private Encoder encoder;
+ private Lidar lidar;
public Shooter() {
+ leftLidar = new AnalogPotentiometer(0);
+ rightLidar = new AnalogPotentiometer(0);
shooter = new CANTalon(Constants.Shooter.PORT);
angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
}
- public double getCurrentSetPoint() {
- return shooter.get();
- }
-
/***
* This method checks to see if the ball has successfully passed through the
* intake rollers and is inside.
// Use negative # for decrement. Positive for increment.
public void changeSpeed(double change) {
- double newSpeed = getCurrentSetPoint() + change;
- if (newSpeed > 1.0)
- shooter.set(1.0);
- else if (newSpeed < -1.0)
- shooter.set(-1.0);
- else {
- setSpeed(newSpeed);
- }
+ double newSpeed = getSpeed() + change;
+ setSpeed(newSpeed);
}
// Punch Commands
- public void punch() {
+ public void extendPunch() {
punch.set(Constants.Shooter.punch);
}
- public void resetPunch() {
+ public void retractPunch() {
punch.set(Constants.Shooter.retract);
}
@Override
protected void initDefaultCommand() {
}
+
+ public double getLeftDistanceToTower() {
+ // TODO: find the method that actually gets distance
+ return leftLidar.get();
+ }
+
+ public double getRightDistanceToTower() {
+ return rightLidar.get();
+ }
}