X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=8649045aa2d8119e5ff9a173ed1030d7d96a74b7;hb=e4fbab026f4a68a4a238839ae2295c56c1134434;hp=675b4b8cbf52353aa2a70418ee73c5b3ae3f150e;hpb=a0c3ca746a7f9daa124ec1e7495de5417e4ae9f9;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 675b4b8c..8649045a 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,50 +1,68 @@
 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.sensors.Photogate;
 
-import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
 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 {
-  // TODO: check all files for control m characters
-  private CANTalon shooter;
+  private DoubleSolenoid catapult1, catapult2;
+  private Photogate photogate;
+  private boolean usePhotoGate;
 
   public Shooter() {
-    shooter = new CANTalon(Constants.Shooter.PORT);
+    catapult1 = new DoubleSolenoid(Constants.Shooter.CATAPULT1_MODULE,
+        Constants.Shooter.CATAPULT1_FORWARD,
+        Constants.Shooter.CATAPULT1_REVERSE);
+    catapult2 = new DoubleSolenoid(Constants.Shooter.CATAPULT2_MODULE,
+        Constants.Shooter.CATAPULT2_FORWARD,
+        Constants.Shooter.CATAPULT2_REVERSE);
+    usePhotoGate = false;
   }
 
-  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 void setSpeed(double speed) {
-    if (speed >= 1.0)
-      shooter.set(1.0);
-    else if (speed <= -1.0)
-      shooter.set(-1.0);
+  public boolean isBallInside() {
+    if (usePhotogate())
+      return photogate.isBallPresent();
     else
-      shooter.set(speed);
+      return true;
+  }
+
+  // Catapult Commands
+  public void fireCatapult() {
+    catapult1.set(Constants.Shooter.shoot);
+    catapult2.set(Constants.Shooter.shoot);
   }
 
-  public void stop() {
-    this.setSpeed(0.0);
+  public void resetCatapult() {
+    catapult1.set(Constants.Shooter.reset);
+    catapult2.set(Constants.Shooter.reset);
   }
 
-  public State getState() {
-    return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
+  public boolean usePhotogate() {
+    return this.usePhotoGate;
   }
 
-  // Use negative # for decrement. Positive for increment.
-  public void changeSpeed(double change) {
-    if (getCurrentSetPoint() + change >= 1.0)
-      shooter.set(1.0);
-    else if (getCurrentSetPoint() + change <= -1.0)
-      shooter.set(-1.0);
-    else {
-      double newSpeed = getCurrentSetPoint() + change;
-      setSpeed(newSpeed);
-    }
+  public void togglePhotoGate() {
+    this.usePhotoGate = !this.usePhotoGate;
   }
 
   @Override