X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=98131673509e3089bb5bf861062225cfe807423d;hb=1696ae2852279093cffd17ce49f50b2be740ed66;hp=c562b20adfb727295ddd8ffba19addba4133b6d2;hpb=8e5f83d9a921e04739ad20e468ec6b4c1ef345f7;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 c562b20a..98131673 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,52 +1,101 @@
-package org.usfirst.frc.team3501.robot.subsystems;
-
-import org.usfirst.frc.team3501.robot.Constants;
-
-import edu.wpi.first.wpilibj.CANTalon;
-import edu.wpi.first.wpilibj.command.Subsystem;
-
-public class Shooter extends Subsystem {
-  CANTalon wheel;
-
-  public Shooter() {
-    wheel = new CANTalon(Constants.Shooter.SHOOTER_WHEEL_PORT);
-  }
-
-  public double getCurrentSpeed() {
-    return wheel.get();
-  }
-
-  public void setSpeed(double speed) {
-    wheel.set(speed);
-  }
-
-  public void incrementSpeed(double increment) {
-    if (getCurrentSpeed() >= 1.0)
-      wheel.set(1.0);
-    else if (getCurrentSpeed() <= -1.0)
-      wheel.set(-1.0);
-    else {
-      double newSpeed = getCurrentSpeed() + increment;
-      wheel.set(newSpeed);
-    }
-  }
-
-  // THIS DECREMENT METHOD TAKES ONLY POSITIVE VALUES SINCE IT ACCOUNTS FOR
-  // SUBTRACTING THE CURRENT MOTOR SPEED!
-  public void decrementSpeed(double decrement) {
-
-    if (getCurrentSpeed() >= 1.0)
-      wheel.set(1.0);
-    else if (getCurrentSpeed() <= -1.0)
-      wheel.set(-1.0);
-    else {
-      double newSpeed = getCurrentSpeed() - decrement;
-      wheel.set(newSpeed);
-    }
-  }
-
-  @Override
-  protected void initDefaultCommand() {
-
-  }
-}
+package org.usfirst.frc.team3501.robot.subsystems;
+
+import org.usfirst.frc.team3501.robot.Constants;
+
+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 hood, punch;
+  private Encoder encoder;
+  private Lidar lidar;
+
+  public Shooter() {
+    shooter = new CANTalon(Constants.Shooter.PORT);
+    hood = 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);
+
+    lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
+  }
+
+  /***
+   * 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();
+  }
+
+  // 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 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() {
+  }
+}