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a0c3ca74 KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
d8c01920 E |
4 | import org.usfirst.frc.team3501.robot.Lidar; |
5 | import org.usfirst.frc.team3501.robot.MathLib; | |
a0c3ca74 | 6 | |
0b403e60 | 7 | import edu.wpi.first.wpilibj.AnalogPotentiometer; |
a0c3ca74 | 8 | import edu.wpi.first.wpilibj.CANTalon; |
2c52cb6e | 9 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; |
9b10474d | 10 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
2c52cb6e | 11 | import edu.wpi.first.wpilibj.Encoder; |
a0c3ca74 KZ |
12 | import edu.wpi.first.wpilibj.command.Subsystem; |
13 | ||
27fac8ed | 14 | /*** |
3b2038bb ME |
15 | * The Shooter consists of a platform and wheel, each controlled by separate |
16 | * motors. The piston controlling the platform pushes the ball onto the wheel. | |
17 | * The wheel is controlled by a motor, which is running before the ball is | |
18 | * pushed onto the wheel. The spinning wheel propels the ball. | |
27fac8ed YA |
19 | * |
20 | * @author superuser | |
21 | * | |
22 | */ | |
23 | ||
a0c3ca74 | 24 | public class Shooter extends Subsystem { |
a0c3ca74 | 25 | private CANTalon shooter; |
0b403e60 | 26 | private CANTalon angleAdjuster; |
071ab315 | 27 | private DoubleSolenoid hood, punch; |
2c52cb6e | 28 | private Encoder encoder; |
06fda04b | 29 | private Lidar lidar; |
a0c3ca74 KZ |
30 | |
31 | public Shooter() { | |
3b2038bb ME |
32 | leftLidar = new AnalogPotentiometer(0); |
33 | rightLidar = new AnalogPotentiometer(0); | |
a0c3ca74 | 34 | shooter = new CANTalon(Constants.Shooter.PORT); |
3b2038bb ME |
35 | angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT); |
36 | punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT, | |
37 | Constants.Shooter.PUNCH_REVERSE_PORT); | |
2c52cb6e K |
38 | |
39 | encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A, | |
40 | Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X); | |
a0c3ca74 KZ |
41 | } |
42 | ||
64055177 | 43 | /*** |
f08a2eef YA |
44 | * This method checks to see if the ball has successfully passed through the |
45 | * intake rollers and is inside. | |
46 | * | |
47 | * @return whether the presence of the ball is true or false and returns the | |
48 | * state of the condition (true or false). | |
49 | */ | |
50 | ||
51 | public boolean isBallInside() { | |
52 | return true; | |
53 | } | |
54 | ||
a0c3ca74 | 55 | public void setSpeed(double speed) { |
0b403e60 ME |
56 | if (speed > 1.0) |
57 | shooter.set(1.0); | |
58 | else if (speed < -1.0) | |
59 | shooter.set(-1.0); | |
60 | else | |
61 | shooter.set(speed); | |
4b29730e E |
62 | } |
63 | ||
a0c3ca74 KZ |
64 | public void stop() { |
65 | this.setSpeed(0.0); | |
66 | } | |
67 | ||
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68 | public double getSpeed() { |
69 | return encoder.getRate(); | |
70 | } | |
71 | ||
a0c3ca74 | 72 | // Use negative # for decrement. Positive for increment. |
27fac8ed | 73 | |
a0c3ca74 | 74 | public void changeSpeed(double change) { |
92d4c21a | 75 | double newSpeed = getSpeed() + change; |
64055177 | 76 | setSpeed(newSpeed); |
a0c3ca74 KZ |
77 | } |
78 | ||
9b10474d | 79 | // Punch Commands |
0b403e60 | 80 | public void extendPunch() { |
9b10474d GK |
81 | punch.set(Constants.Shooter.punch); |
82 | } | |
83 | ||
c8c4e6d9 | 84 | public void retractPunch() { |
9b10474d GK |
85 | punch.set(Constants.Shooter.retract); |
86 | } | |
87 | ||
3b2038bb ME |
88 | @Override |
89 | protected void initDefaultCommand() { | |
071ab315 KZ |
90 | } |
91 | ||
3b2038bb ME |
92 | public double getLeftDistanceToTower() { |
93 | // TODO: find the method that actually gets distance | |
94 | return leftLidar.get(); | |
071ab315 KZ |
95 | } |
96 | ||
3b2038bb ME |
97 | public double getRightDistanceToTower() { |
98 | return rightLidar.get(); | |
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99 | } |
100 | } |