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;
/***
* 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
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);
- 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);
}
- /***
- *
- * @return current sensor position??
- */
- public double getCurrentSetPoint() {
- return shooter.get();
- }
-
/***
* This method checks to see if the ball has successfully passed through the
* intake rollers and is inside.
}
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() {
// Use negative # for decrement. Positive for increment.
public void changeSpeed(double change) {
- double newSpeed = getCurrentSetPoint() + change;
+ double newSpeed = getSpeed() + change;
setSpeed(newSpeed);
}
punch.set(Constants.Shooter.punch);
}
- public void resetPunch() {
+ public void retractPunch() {
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() {
}