-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class Shooter extends Subsystem{\r
- \r
- public Shooter(){\r
- \r
- }\r
-\r
- @Override\r
- protected void initDefaultCommand() {\r
- // TODO Auto-generated method stub\r
- \r
- }\r
-}\r
+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 hood, punch;
+ private Encoder encoder;
+ private Lidar lidar;
+
+ public Shooter() {
+ shooter = new CANTalon(Constants.Shooter.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);
+ }
+
+ /***
+ * 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) {
+ if (speed > 1.0)
+ shooter.set(1.0);
+ else if (speed < -1.0)
+ shooter.set(-1.0);
+ else
+ shooter.set(speed);
+ }
+
+ public void stop() {
+ this.setSpeed(0.0);
+ }
+
+ public double getSpeed() {
+ return encoder.getRate();
+ }
+
+ // Use negative # for decrement. Positive for increment.
+
+ public void changeSpeed(double change) {
+ double newSpeed = getSpeed() + change;
+ setSpeed(newSpeed);
+ }
+
+ // Punch Commands
+ public void extendPunch() {
+ punch.set(Constants.Shooter.punch);
+ }
+
+ 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() {
+ }
+}