Commit | Line | Data |
---|---|---|
a0c3ca74 KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
06fda04b | 4 | import org.usfirst.frc.team3501.robot.Lidar; |
4b94da2f | 5 | import org.usfirst.frc.team3501.robot.MathLib; |
a0c3ca74 KZ |
6 | |
7 | import edu.wpi.first.wpilibj.CANTalon; | |
2c52cb6e | 8 | import edu.wpi.first.wpilibj.CounterBase.EncodingType; |
9b10474d | 9 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
2c52cb6e | 10 | import edu.wpi.first.wpilibj.Encoder; |
a0c3ca74 KZ |
11 | import edu.wpi.first.wpilibj.command.Subsystem; |
12 | ||
27fac8ed | 13 | /*** |
06fda04b E |
14 | * The Shooter consists of a platform and wheel, each controlled by separate |
15 | * motors. The piston controlling the platform pushes the ball onto the wheel. | |
16 | * The wheel is controlled by a motor, which is running before the ball is | |
17 | * pushed onto the wheel. The spinning wheel propels the ball. | |
27fac8ed YA |
18 | * |
19 | * @author superuser | |
20 | * | |
21 | */ | |
22 | ||
a0c3ca74 | 23 | public class Shooter extends Subsystem { |
a0c3ca74 | 24 | private CANTalon shooter; |
071ab315 | 25 | private DoubleSolenoid hood, punch; |
2c52cb6e | 26 | private Encoder encoder; |
06fda04b | 27 | private Lidar lidar; |
a0c3ca74 KZ |
28 | |
29 | public Shooter() { | |
30 | shooter = new CANTalon(Constants.Shooter.PORT); | |
071ab315 KZ |
31 | hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD, |
32 | Constants.Shooter.HOOD_REVERSE); | |
33 | punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD, | |
34 | Constants.Shooter.PUNCH_REVERSE); | |
2c52cb6e K |
35 | |
36 | encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A, | |
37 | Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X); | |
06fda04b | 38 | |
77c791b9 | 39 | lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT); |
a0c3ca74 KZ |
40 | } |
41 | ||
64055177 | 42 | /*** |
f08a2eef YA |
43 | * This method checks to see if the ball has successfully passed through the |
44 | * intake rollers and is inside. | |
45 | * | |
46 | * @return whether the presence of the ball is true or false and returns the | |
47 | * state of the condition (true or false). | |
48 | */ | |
49 | ||
50 | public boolean isBallInside() { | |
51 | return true; | |
52 | } | |
53 | ||
a0c3ca74 | 54 | public void setSpeed(double speed) { |
4b94da2f KZ |
55 | speed = MathLib.constrain(speed, -1, 1); |
56 | shooter.set(speed); | |
a0c3ca74 KZ |
57 | } |
58 | ||
59 | public void stop() { | |
60 | this.setSpeed(0.0); | |
61 | } | |
62 | ||
2c52cb6e K |
63 | public double getSpeed() { |
64 | return encoder.getRate(); | |
65 | } | |
66 | ||
a0c3ca74 | 67 | // Use negative # for decrement. Positive for increment. |
27fac8ed | 68 | |
a0c3ca74 | 69 | public void changeSpeed(double change) { |
92d4c21a | 70 | double newSpeed = getSpeed() + change; |
64055177 | 71 | setSpeed(newSpeed); |
a0c3ca74 KZ |
72 | } |
73 | ||
9b10474d | 74 | // Punch Commands |
4b94da2f | 75 | public void punch() { |
9b10474d GK |
76 | punch.set(Constants.Shooter.punch); |
77 | } | |
78 | ||
c8c4e6d9 | 79 | public void retractPunch() { |
9b10474d GK |
80 | punch.set(Constants.Shooter.retract); |
81 | } | |
82 | ||
071ab315 KZ |
83 | public boolean isHoodOpen() { |
84 | return hood.get() == Constants.Shooter.open; | |
85 | } | |
86 | ||
87 | public void openHood() { | |
88 | hood.set(Constants.Shooter.open); | |
89 | } | |
90 | ||
91 | public void closeHood() { | |
92 | hood.set(Constants.Shooter.closed); | |
93 | } | |
94 | ||
a0c3ca74 KZ |
95 | @Override |
96 | protected void initDefaultCommand() { | |
97 | } | |
98 | } |