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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; | |
9b10474d | 6 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
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7 | import edu.wpi.first.wpilibj.command.Subsystem; |
8 | ||
9 | public class Shooter extends Subsystem { | |
a0c3ca74 | 10 | private CANTalon shooter; |
4f516a69 | 11 | private CANTalon angleAdjuster; |
9b10474d | 12 | private DoubleSolenoid punch; |
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13 | |
14 | public Shooter() { | |
15 | shooter = new CANTalon(Constants.Shooter.PORT); | |
ee92234b GK |
16 | angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT); |
17 | punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT, | |
18 | Constants.Shooter.PUNCH_REVERSE_PORT); | |
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19 | } |
20 | ||
21 | public double getCurrentSetPoint() { | |
22 | return shooter.get(); | |
23 | } | |
24 | ||
25 | public void setSpeed(double speed) { | |
913142de | 26 | if (speed > 1.0) |
a0c3ca74 | 27 | shooter.set(1.0); |
913142de | 28 | else if (speed < -1.0) |
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29 | shooter.set(-1.0); |
30 | else | |
31 | shooter.set(speed); | |
32 | } | |
33 | ||
34 | public void stop() { | |
35 | this.setSpeed(0.0); | |
36 | } | |
37 | ||
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38 | // Use negative # for decrement. Positive for increment. |
39 | public void changeSpeed(double change) { | |
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40 | double newSpeed = getCurrentSetPoint() + change; |
41 | if (newSpeed > 1.0) | |
a0c3ca74 | 42 | shooter.set(1.0); |
07ceaad8 | 43 | else if (newSpeed < -1.0) |
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44 | shooter.set(-1.0); |
45 | else { | |
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46 | setSpeed(newSpeed); |
47 | } | |
48 | } | |
49 | ||
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50 | // Punch Commands |
51 | public void punch() { | |
52 | punch.set(Constants.Shooter.punch); | |
53 | } | |
54 | ||
55 | public void resetPunch() { | |
56 | punch.set(Constants.Shooter.retract); | |
57 | } | |
58 | ||
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59 | @Override |
60 | protected void initDefaultCommand() { | |
61 | } | |
62 | } |