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.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
public class Shooter extends Subsystem {
private CANTalon shooter;
- private DoubleSolenoid hood, punch;
+ private DoubleSolenoid hood1, hood2, punch;
private Encoder encoder;
private Lidar lidar;
+ private Photogate photogate;
+ private boolean usePhotoGate;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
- hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+ hood1 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+ Constants.Shooter.HOOD_REVERSE);
+ hood2 = 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);
-
- lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
+ usePhotoGate = true;
}
/***
*/
public boolean isBallInside() {
- return true;
- }
- public void setSpeed(double speed) {
- speed = MathLib.constrain(speed, -1, 1);
- shooter.set(speed);
+ if (usePhotogate())
+ return photogate.isBallPresent();
+ else
+ return true;
+
}
- // This getDistance() will return the distance using the lidar from the
- // desired target during match. This distance is returned in units of
- // CENTIMETERS.
- public double getDistance() {
- return lidar.getDistance();
+ 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() {
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) {
}
// Punch Commands
- public void punch() {
+ public void extendPunch() {
punch.set(Constants.Shooter.punch);
}
punch.set(Constants.Shooter.retract);
}
- public boolean isHoodOpen() {
- return hood.get() == Constants.Shooter.open;
+ public void raiseHood() {
+ hood1.set(Constants.Shooter.open);
+ hood2.set(Constants.Shooter.open);
+ }
+
+ public void lowerHood() {
+ hood1.set(Constants.Shooter.closed);
+ hood2.set(Constants.Shooter.closed);
+ }
+
+ public boolean isHoodDown() {
+ if (hood1.get() == Constants.Shooter.open
+ && hood2.get() == Constants.Shooter.open)
+ return true;
+ return false;
}
- public void openHood() {
- hood.set(Constants.Shooter.open);
+ public boolean usePhotogate() {
+ return this.usePhotoGate;
}
- public void closeHood() {
- hood.set(Constants.Shooter.closed);
+ public void togglePhotoGate() {
+ this.usePhotoGate = !this.usePhotoGate;
}
@Override