/***
* The Shooter consists of a platform and wheel, each controlled by
- * separate motors. The motor controlling the platform pushes the ball onto the
- * wheel. The wheel is controlled by a motor, which runs once the ball is pushed
+ * 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);
- angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
- punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
- Constants.Shooter.PUNCH_REVERSE_PORT);
+ hood = 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);
- }
- /***
- *
- * @return current sensor position??
- */
- public double getCurrentSetPoint() {
- return shooter.get();
+ lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
}
/***
// Use negative # for decrement. Positive for increment.
public void changeSpeed(double change) {
- double newSpeed = getCurrentSetPoint() + change;
+ 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() {
}