add skeleton code for calculating angle to turn for shooting

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / Shooter.java

package org.usfirst.frc.team3501.robot.subsystems;

import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Lidar;
import org.usfirst.frc.team3501.robot.MathLib;

import edu.wpi.first.wpilibj.AnalogPotentiometer;
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 CANTalon angleAdjuster;
  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);
	angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_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);

    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() {
  }
}