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)
shooter.set(1.0);
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.
}
}
+ // Punch Commands
+ public void punch() {
+ punch.set(Constants.Shooter.punch);
+ }
+
+ public void resetPunch() {
+ punch.set(Constants.Shooter.retract);
+ }
+
@Override
protected void initDefaultCommand() {
}