X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=22239e49ee945c5bd0a9a163d9a9da7160233db2;hb=3b2038bb486d94a21613223c1b00b59fc29032eb;hp=3e98e5d36230adab1667d8a4ebcb89c1fde80200;hpb=416c4380536797f5ad2b474096beb64d5b0b2eab;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 3e98e5d3..22239e49 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,16 +1,100 @@
-package org.usfirst.frc.team3501.robot.subsystems;
-
-import edu.wpi.first.wpilibj.command.Subsystem;
-
-public class Shooter extends Subsystem{
-	
-	public Shooter(){
-		
-	}
-
-	@Override
-	protected void initDefaultCommand() {
-		// TODO Auto-generated method stub
-		
-	}
-}
+package org.usfirst.frc.team3501.robot.subsystems;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Lidar;
+import org.usfirst.frc.team3501.robot.MathLib;
+
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
+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;
+
+/***
+ * 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() {
+    leftLidar = new AnalogPotentiometer(0);
+    rightLidar = new AnalogPotentiometer(0);
+    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);
+  }
+
+  /***
+   * 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);
+    else if (speed < -1.0)
+      shooter.set(-1.0);
+    else
+      shooter.set(speed);
+  }
+
+  public void stop() {
+    this.setSpeed(0.0);
+  }
+
+  public double getSpeed() {
+    return encoder.getRate();
+  }
+
+  // Use negative # for decrement. Positive for increment.
+
+  public void changeSpeed(double change) {
+    double newSpeed = getSpeed() + change;
+    setSpeed(newSpeed);
+  }
+
+  // Punch Commands
+  public void extendPunch() {
+    punch.set(Constants.Shooter.punch);
+  }
+
+  public void retractPunch() {
+    punch.set(Constants.Shooter.retract);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
+
+  public double getLeftDistanceToTower() {
+    // TODO: find the method that actually gets distance
+    return leftLidar.get();
+  }
+
+  public double getRightDistanceToTower() {
+    return rightLidar.get();
+  }
+}