X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=69bff0bda6ca9475560fa93853f245dbdeeea05b;hb=5930d874bede4f9a0734fa113b4791b6910ef8ab;hp=5727cc286cb6f1513b9c3c867af4f0468c1cb9b9;hpb=2f17b00606cfa7efc607327a78878d6cb8e94189;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 5727cc28..69bff0bd 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,76 +1,116 @@
-package org.usfirst.frc.team3501.robot.subsystems;
-
-import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.Constants.Shooter.State;
-import org.usfirst.frc.team3501.robot.Robot;
-
-import edu.wpi.first.wpilibj.CANTalon;
-import edu.wpi.first.wpilibj.command.Subsystem;
-
-public class Shooter extends Subsystem {
-  private CANTalon shooter;
-  private State state;
-
-  public Shooter() {
-    shooter = new CANTalon(Constants.Shooter.PORT);
-    state = State.STOPPED;
-  }
-
-  public double getCurrentSpeed() {
-    return shooter.get();
-  }
-
-  public void setSpeed(double speed) {
-    state = State.RUNNING;
-    shooter.set(speed);
-  }
-
-  public void shooterButtonsPressed() {
-
-    if (Robot.oi.incrementSpeed.get()) {
-      changeSpeed(0.1);
-    }
-
-    if (Robot.oi.decrementSpeed.get()) {
-      changeSpeed(-0.1);
-    }
-
-    if (Robot.oi.trigger.get()) {
-      if (this.getState() == State.STOPPED)
-        this.setSpeed(0.5);
-    } else {
-      if (this.getState() == State.RUNNING) {
-        this.stop();
-      }
-    }
-
-    if (Robot.oi.outputCurrentShooterSpeed.get()) {
-      System.out.println("Current Shooter Speed: " + getCurrentSpeed());
-    }
-  }
-
-  private void stop() {
-    this.setSpeed(0.0);
-  }
-
-  private State getState() {
-    return state;
-  }
-
-  // Use negative # for decrement. Positive for increment.
-  public void changeSpeed(double change) {
-    if (getCurrentSpeed() + change >= 1.0)
-      shooter.set(1.0);
-    else if (getCurrentSpeed() + change <= -1.0)
-      shooter.set(-1.0);
-    else {
-      double newSpeed = getCurrentSpeed() + change;
-      setSpeed(newSpeed);
-    }
-    this.state = State.RUNNING;
-  }
-
-  @Override
-  protected void initDefaultCommand() {
-  }
-}
+package org.usfirst.frc.team3501.robot.subsystems;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.sensors.Lidar;
+
+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 DoubleSolenoid hood1, hood2, punch;
+  private Encoder encoder;
+  private Lidar lidar;
+
+  public Shooter() {
+    shooter = new CANTalon(Constants.Shooter.PORT);
+    hood1 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+        Constants.Shooter.HOOD_REVERSE);
+    hood2 = 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);
+  }
+
+  /***
+   * 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();
+  }
+
+  /*
+   * 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 = getSpeed() + change;
+    setSpeed(newSpeed);
+  }
+
+  // Punch Commands
+  public void extendPunch() {
+    punch.set(Constants.Shooter.punch);
+  }
+
+  public void retractPunch() {
+    punch.set(Constants.Shooter.retract);
+  }
+
+  public void raiseHood() {
+    hood1.set(Constants.Shooter.open);
+    hood2.set(Constants.Shooter.open);
+  }
+
+  public void lowerHood() {
+    hood1.set(Constants.Shooter.closed);
+    hood2.set(Constants.Shooter.closed);
+  }
+
+  public boolean isHoodDown() {
+    if (hood1.get() == Constants.Shooter.open)
+      return true;
+    return false;
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
+}