X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=60452a0c9080bfe4bf61beb2c129ce0be2b37717;hb=4d4bcc688036e2dfeb20824d91b8a9972c20ecf4;hp=c2fa77c044ee4729e8c6259ae97c335d81ba47da;hpb=f08a2eefbc6c5fd2dc62ff2f964d0d3e3def98d4;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 c2fa77c0..60452a0c 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,6 +1,8 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.sensors.Lidar;
+import org.usfirst.frc.team3501.robot.sensors.Photogate;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
@@ -8,26 +10,34 @@ 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;
+  private Photogate photogate;
 
   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);
+    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);
   }
 
-  public double getCurrentSetPoint() {
-    return shooter.get();
-  }
-
   /***
    * This method checks to see if the ball has successfully passed through the
    * intake rollers and is inside.
@@ -37,7 +47,7 @@ public class Shooter extends Subsystem {
    */
 
   public boolean isBallInside() {
-    return true;
+    return photogate.isBallPresent();
   }
 
   public void setSpeed(double speed) {
@@ -57,24 +67,30 @@ public class Shooter extends Subsystem {
     return encoder.getRate();
   }
 
+  /*
+   * We are going to map a lidar distance to a shooter speed that will be set to
+   * the shooter. This function does not yet exist so we will just use y=x but
+   * when testing commences we shall create the function
+   */
+  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) {
-    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);
   }