package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.Constants.Shooter.State;
+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;
+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 {
- // TODO: check all files for control m characters
private CANTalon shooter;
+ 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);
+ 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);
+ usePhotoGate = true;
}
- 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() {
+
+ if (usePhotogate())
+ return photogate.isBallPresent();
+ else
+ return true;
+
}
public void setSpeed(double speed) {
this.setSpeed(0.0);
}
- public State getState() {
- return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
+ public double getSpeed() {
+ 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) {
- 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 extendPunch() {
+ punch.set(Constants.Shooter.punch);
+ }
+
+ public void retractPunch() {
+ punch.set(Constants.Shooter.retract);
+ }
+
+ 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 boolean usePhotogate() {
+ return this.usePhotoGate;
+ }
+
+ public void togglePhotoGate() {
+ this.usePhotoGate = !this.usePhotoGate;
}
@Override