Initialize photogate in shooter subsystem

[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 5c92506da9844c021fb770c3736209336df97183..60452a0c9080bfe4bf61beb2c129ce0be2b37717 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,10 +1,9 @@
 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 org.usfirst.frc.team3501.robot.sensors.Lidar;
+import org.usfirst.frc.team3501.robot.sensors.Photogate;
 
-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;
@@ -12,11 +11,10 @@ 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.
+ * 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
  *
@@ -28,19 +26,16 @@ public class Shooter extends Subsystem {
   private DoubleSolenoid hood, punch;
   private Encoder encoder;
   private Lidar lidar;
+  private Photogate photogate;
 
   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);
+    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);
   }
 
   /***
@@ -52,7 +47,7 @@ public class Shooter extends Subsystem {
    */
 
   public boolean isBallInside() {
-    return true;
+    return photogate.isBallPresent();
   }
 
   public void setSpeed(double speed) {
@@ -72,6 +67,17 @@ public class Shooter extends Subsystem {
     return encoder.getRate();
   }
 
+  /*
+   * We are going to map a lidar distance to a shooter speed that will be set to
+   * the shooter. This function does not yet exist so we will just use y=x but
+   * when testing commences we shall create the function
+   */
+  public double getShooterSpeed() {
+    double distanceToGoal = lidar.getDistance();
+    double shooterSpeed = distanceToGoal; // Function to be determined
+    return shooterSpeed;
+  }
+
   // Use negative # for decrement. Positive for increment.
 
   public void changeSpeed(double change) {
@@ -88,18 +94,6 @@ public class Shooter extends Subsystem {
     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() {
   }