X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=40581afee5a3a7e523b82d1beb2d6aa010971020;hb=071ab31546b9c3cf13bca472a4ac76b1480aeb6a;hp=4fa8f4e31ab5181f3870b1e5c41a251581f86628;hpb=69a7e144579ac7524bdcfc66fab0c3c7ec50296e;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 4fa8f4e3..40581afe 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
@@ -21,28 +22,20 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
   private CANTalon shooter;
-  private CANTalon angleAdjuster;
-  private DoubleSolenoid punch;
+  private DoubleSolenoid hood, 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);
+    hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+        Constants.Shooter.HOOD_REVERSE);
+    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);
   }
 
-  /***
-   *
-   * @return current sensor position??
-   */
-  public double getCurrentSetPoint() {
-    return shooter.get();
-  }
-
   /***
    * This method checks to see if the ball has successfully passed through the
    * intake rollers and is inside.
@@ -56,12 +49,8 @@ public class Shooter extends Subsystem {
   }
 
   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);
+    speed = MathLib.constrain(speed, -1, 1);
+    shooter.set(speed);
   }
 
   public void stop() {
@@ -75,12 +64,12 @@ public class Shooter extends Subsystem {
   // Use negative # for decrement. Positive for increment.
 
   public void changeSpeed(double change) {
-    double newSpeed = getCurrentSetPoint() + change;
+    double newSpeed = getSpeed() + change;
     setSpeed(newSpeed);
   }
 
   // Punch Commands
-  public void extendPunch() {
+  public void punch() {
     punch.set(Constants.Shooter.punch);
   }
 
@@ -88,6 +77,18 @@ public class Shooter extends Subsystem {
     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() {
   }