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.Encoder;
import edu.wpi.first.wpilibj.command.Subsystem;
+/***
+ * 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() {
shooter = new CANTalon(Constants.Shooter.PORT);
- punch = new DoubleSolenoid(Constants.Shooter.FORWARD_PORT,
- Constants.Shooter.REVERSE_PORT);
+ hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+ Constants.Shooter.HOOD_REVERSE);
+ angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
+ 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);
+
+ lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
}
- public double getCurrentSetPoint() {
- return shooter.get();
+ /***
+ * This method checks to see if the ball has successfully passed through the
+ * intake rollers and is inside.
+ *
+ * @return whether the presence of the ball is true or false and returns the
+ * state of the condition (true or false).
+ */
+
+ public boolean isBallInside() {
+ return true;
}
public void setSpeed(double speed) {
this.setSpeed(0.0);
}
+ public double getSpeed() {
+ return encoder.getRate();
+ }
+
// 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);
}
+ 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() {
}