package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Lidar;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
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.
+ * 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 {
private CANTalon shooter;
+ private CANTalon angleAdjuster;
private DoubleSolenoid hood, punch;
private Encoder encoder;
private Lidar lidar;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
- hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
- Constants.Shooter.HOOD_REVERSE);
+ angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
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);
-
- lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
}
/***
return encoder.getRate();
}
+ 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) {
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() {
}