Commit | Line | Data |
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a0c3ca74 KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
a0c3ca74 KZ |
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; |
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9 | import edu.wpi.first.wpilibj.command.Subsystem; |
10 | ||
27fac8ed | 11 | /*** |
1696ae28 ME |
12 | * The Shooter consists of a platform and wheel, each controlled by |
13 | * separate motors. The piston controlling the platform pushes the ball onto the | |
14 | * wheel. The wheel is controlled by a motor, which is running before the ball | |
15 | * is pushed | |
16 | * onto the wheel. The spinning wheel propels the ball. | |
27fac8ed YA |
17 | * |
18 | * @author superuser | |
19 | * | |
20 | */ | |
21 | ||
a0c3ca74 | 22 | public class Shooter extends Subsystem { |
a0c3ca74 | 23 | private CANTalon shooter; |
071ab315 | 24 | private DoubleSolenoid hood, punch; |
2c52cb6e | 25 | private Encoder encoder; |
06fda04b | 26 | private Lidar lidar; |
a0c3ca74 KZ |
27 | |
28 | public Shooter() { | |
29 | shooter = new CANTalon(Constants.Shooter.PORT); | |
071ab315 KZ |
30 | hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD, |
31 | Constants.Shooter.HOOD_REVERSE); | |
32 | punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD, | |
33 | Constants.Shooter.PUNCH_REVERSE); | |
2c52cb6e K |
34 | |
35 | encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A, | |
36 | Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X); | |
06fda04b | 37 | |
77c791b9 | 38 | lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT); |
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39 | } |
40 | ||
64055177 | 41 | /*** |
f08a2eef YA |
42 | * This method checks to see if the ball has successfully passed through the |
43 | * intake rollers and is inside. | |
44 | * | |
45 | * @return whether the presence of the ball is true or false and returns the | |
46 | * state of the condition (true or false). | |
47 | */ | |
48 | ||
49 | public boolean isBallInside() { | |
50 | return true; | |
51 | } | |
52 | ||
a0c3ca74 | 53 | public void setSpeed(double speed) { |
1696ae28 ME |
54 | if (speed > 1.0) |
55 | shooter.set(1.0); | |
56 | else if (speed < -1.0) | |
57 | shooter.set(-1.0); | |
58 | else | |
59 | shooter.set(speed); | |
4b29730e E |
60 | } |
61 | ||
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62 | public void stop() { |
63 | this.setSpeed(0.0); | |
64 | } | |
65 | ||
2c52cb6e K |
66 | public double getSpeed() { |
67 | return encoder.getRate(); | |
68 | } | |
69 | ||
a0c3ca74 | 70 | // Use negative # for decrement. Positive for increment. |
27fac8ed | 71 | |
a0c3ca74 | 72 | public void changeSpeed(double change) { |
92d4c21a | 73 | double newSpeed = getSpeed() + change; |
64055177 | 74 | setSpeed(newSpeed); |
a0c3ca74 KZ |
75 | } |
76 | ||
9b10474d | 77 | // Punch Commands |
1696ae28 | 78 | public void extendPunch() { |
9b10474d GK |
79 | punch.set(Constants.Shooter.punch); |
80 | } | |
81 | ||
c8c4e6d9 | 82 | public void retractPunch() { |
9b10474d GK |
83 | punch.set(Constants.Shooter.retract); |
84 | } | |
85 | ||
071ab315 KZ |
86 | public boolean isHoodOpen() { |
87 | return hood.get() == Constants.Shooter.open; | |
88 | } | |
89 | ||
90 | public void openHood() { | |
91 | hood.set(Constants.Shooter.open); | |
92 | } | |
93 | ||
94 | public void closeHood() { | |
95 | hood.set(Constants.Shooter.closed); | |
96 | } | |
97 | ||
a0c3ca74 KZ |
98 | @Override |
99 | protected void initDefaultCommand() { | |
100 | } | |
101 | } |