X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=5c92506da9844c021fb770c3736209336df97183;hb=0b403e6022b2c38e54e77e3d17d30dc5fc54ef57;hp=035ee86ce029e831dec3242fc8f3692e6c1a6114;hpb=4f516a69265dbc1d6d452bd19f6c467dd3855c98;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 035ee86c..5c92506d 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,24 +1,58 @@
 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 punch;
+  private DoubleSolenoid hood, punch;
+  private Encoder encoder;
+  private Lidar lidar;
 
   public Shooter() {
     shooter = new CANTalon(Constants.Shooter.PORT);
-    punch = new DoubleSolenoid(Constants.Shooter.FORWARD_PORT,
-        Constants.Shooter.REVERSE_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);
   }
 
-  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) {
@@ -34,27 +68,38 @@ public class Shooter extends Subsystem {
     this.setSpeed(0.0);
   }
 
+  public double getSpeed() {
+    return encoder.getRate();
+  }
+
   // Use negative # for decrement. Positive for increment.
+
   public void changeSpeed(double change) {
-    double newSpeed = getCurrentSetPoint() + change;
-    if (newSpeed > 1.0)
-      shooter.set(1.0);
-    else if (newSpeed < -1.0)
-      shooter.set(-1.0);
-    else {
-      setSpeed(newSpeed);
-    }
+    double newSpeed = getSpeed() + change;
+    setSpeed(newSpeed);
   }
 
   // Punch Commands
-  public void punch() {
+  public void extendPunch() {
     punch.set(Constants.Shooter.punch);
   }
 
-  public void resetPunch() {
+  public void retractPunch() {
     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() {
   }