add class level comment for Shooter class- describe mechanism

[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 ec3731752bad3f43df0175fb9106d76b2821de0b..cbf6df66b7408e50802b37240811c49f1c246af9 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -8,6 +8,16 @@ 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 motor controlling the platform pushes the ball onto the
+ * wheel. The wheel is controlled by a motor, which runs once 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;
@@ -28,6 +38,18 @@ public class Shooter extends Subsystem {
     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);
@@ -46,6 +68,7 @@ public class Shooter extends Subsystem {
   }
 
   // Use negative # for decrement. Positive for increment.
+
   public void changeSpeed(double change) {
     double newSpeed = getCurrentSetPoint() + change;
     if (newSpeed > 1.0)