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=ee2742d2b0209e88c0cd18cd0b54fbebcd9c070b;hpb=4b94da2f70ac1e3b8197a0712c68263e26cd68e6;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 ee2742d2..5c92506d 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,8 +1,10 @@
 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;
@@ -23,17 +25,22 @@ 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;
+  private Lidar lidar;
 
   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);
+	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);
   }
 
   /***
@@ -49,8 +56,12 @@ public class Shooter extends Subsystem {
   }
 
   public void setSpeed(double speed) {
-    speed = MathLib.constrain(speed, -1, 1);
-    shooter.set(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() {
@@ -69,7 +80,7 @@ public class Shooter extends Subsystem {
   }
 
   // Punch Commands
-  public void punch() {
+  public void extendPunch() {
     punch.set(Constants.Shooter.punch);
   }
 
@@ -77,6 +88,18 @@ 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() {
   }