X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=f547ab0ee84fa2ae9399eb75898534218615ba07;hb=a56412b727a0e8168a8e4b46fddf1eaad6028f80;hp=98131673509e3089bb5bf861062225cfe807423d;hpb=1696ae2852279093cffd17ce49f50b2be740ed66;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 98131673..f547ab0e 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,6 +1,7 @@
 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;
@@ -9,11 +10,10 @@ 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.
+ * 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
  *
@@ -34,8 +34,6 @@ public class Shooter extends Subsystem {
 
     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
-
-    lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
   }
 
   /***
@@ -67,6 +65,17 @@ 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) {
@@ -83,15 +92,11 @@ public class Shooter extends Subsystem {
     punch.set(Constants.Shooter.retract);
   }
 
-  public boolean isHoodOpen() {
-    return hood.get() == Constants.Shooter.open;
-  }
-
-  public void openHood() {
+  public void raiseHood() {
     hood.set(Constants.Shooter.open);
   }
 
-  public void closeHood() {
+  public void lowerHood() {
     hood.set(Constants.Shooter.closed);
   }