add method stub isBallInside to check and return presence of ball

[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 675b4b8cbf52353aa2a70418ee73c5b3ae3f150e..c2fa77c044ee4729e8c6259ae97c335d81ba47da 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,27 +1,49 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.Constants.Shooter.State;
 
 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;
 
 public class Shooter extends Subsystem {
-  // TODO: check all files for control m characters
   private CANTalon shooter;
+  private CANTalon angleAdjuster;
+  private DoubleSolenoid punch;
+  private Encoder encoder;
 
   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);
+
+    encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
+        Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
   }
 
   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() {
+    return true;
+  }
+
   public void setSpeed(double speed) {
-    if (speed >= 1.0)
+    if (speed > 1.0)
       shooter.set(1.0);
-    else if (speed <= -1.0)
+    else if (speed < -1.0)
       shooter.set(-1.0);
     else
       shooter.set(speed);
@@ -31,22 +53,31 @@ public class Shooter extends Subsystem {
     this.setSpeed(0.0);
   }
 
-  public State getState() {
-    return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
+  public double getSpeed() {
+    return encoder.getRate();
   }
 
   // Use negative # for decrement. Positive for increment.
   public void changeSpeed(double change) {
-    if (getCurrentSetPoint() + change >= 1.0)
+    double newSpeed = getCurrentSetPoint() + change;
+    if (newSpeed > 1.0)
       shooter.set(1.0);
-    else if (getCurrentSetPoint() + change <= -1.0)
+    else if (newSpeed < -1.0)
       shooter.set(-1.0);
     else {
-      double newSpeed = getCurrentSetPoint() + change;
       setSpeed(newSpeed);
     }
   }
 
+  // Punch Commands
+  public void punch() {
+    punch.set(Constants.Shooter.punch);
+  }
+
+  public void resetPunch() {
+    punch.set(Constants.Shooter.retract);
+  }
+
   @Override
   protected void initDefaultCommand() {
   }