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1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
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4 | |
5 | import edu.wpi.first.wpilibj.CANTalon; | |
2c52cb6e | 6 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; |
9b10474d | 7 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
2c52cb6e | 8 | import edu.wpi.first.wpilibj.Encoder; |
a0c3ca74 KZ |
9 | import edu.wpi.first.wpilibj.command.Subsystem; |
10 | ||
11 | public class Shooter extends Subsystem { | |
a0c3ca74 | 12 | private CANTalon shooter; |
4f516a69 | 13 | private CANTalon angleAdjuster; |
9b10474d | 14 | private DoubleSolenoid punch; |
2c52cb6e | 15 | private Encoder encoder; |
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16 | |
17 | public Shooter() { | |
18 | shooter = new CANTalon(Constants.Shooter.PORT); | |
ee92234b GK |
19 | angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT); |
20 | punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT, | |
21 | Constants.Shooter.PUNCH_REVERSE_PORT); | |
2c52cb6e K |
22 | |
23 | encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A, | |
24 | Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X); | |
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25 | } |
26 | ||
27 | public double getCurrentSetPoint() { | |
28 | return shooter.get(); | |
29 | } | |
30 | ||
f08a2eef YA |
31 | /*** |
32 | * This method checks to see if the ball has successfully passed through the | |
33 | * intake rollers and is inside. | |
34 | * | |
35 | * @return whether the presence of the ball is true or false and returns the | |
36 | * state of the condition (true or false). | |
37 | */ | |
38 | ||
39 | public boolean isBallInside() { | |
40 | return true; | |
41 | } | |
42 | ||
a0c3ca74 | 43 | public void setSpeed(double speed) { |
913142de | 44 | if (speed > 1.0) |
a0c3ca74 | 45 | shooter.set(1.0); |
913142de | 46 | else if (speed < -1.0) |
a0c3ca74 KZ |
47 | shooter.set(-1.0); |
48 | else | |
49 | shooter.set(speed); | |
50 | } | |
51 | ||
52 | public void stop() { | |
53 | this.setSpeed(0.0); | |
54 | } | |
55 | ||
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56 | public double getSpeed() { |
57 | return encoder.getRate(); | |
58 | } | |
59 | ||
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60 | // Use negative # for decrement. Positive for increment. |
61 | public void changeSpeed(double change) { | |
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62 | double newSpeed = getCurrentSetPoint() + change; |
63 | if (newSpeed > 1.0) | |
a0c3ca74 | 64 | shooter.set(1.0); |
07ceaad8 | 65 | else if (newSpeed < -1.0) |
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66 | shooter.set(-1.0); |
67 | else { | |
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68 | setSpeed(newSpeed); |
69 | } | |
70 | } | |
71 | ||
9b10474d GK |
72 | // Punch Commands |
73 | public void punch() { | |
74 | punch.set(Constants.Shooter.punch); | |
75 | } | |
76 | ||
77 | public void resetPunch() { | |
78 | punch.set(Constants.Shooter.retract); | |
79 | } | |
80 | ||
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81 | @Override |
82 | protected void initDefaultCommand() { | |
83 | } | |
84 | } |