reset to unix format

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / Shooter.java

package org.usfirst.frc.team3501.robot.subsystems;

import org.usfirst.frc.team3501.robot.Constants;

import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.command.Subsystem;

public class Shooter extends Subsystem {
  private CANTalon shooter;
  private CANTalon angleAdjuster;
  private DoubleSolenoid punch;
  private Encoder encoder;

  public Shooter() {
    shooter = new CANTalon(Constants.Shooter.PORT);
    angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
    punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
        Constants.Shooter.PUNCH_REVERSE_PORT);

    encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
        Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  }

  public double getCurrentSetPoint() {
    return shooter.get();
  }

  public void setSpeed(double speed) {
    if (speed > 1.0)
      shooter.set(1.0);
    else if (speed < -1.0)
      shooter.set(-1.0);
    else
      shooter.set(speed);
  }

  public void stop() {
    this.setSpeed(0.0);
  }

  public double getSpeed() {
    return encoder.getRate();
  }

  // Use negative # for decrement. Positive for increment.
  public void changeSpeed(double change) {
    double newSpeed = getCurrentSetPoint() + change;
    if (newSpeed > 1.0)
      shooter.set(1.0);
    else if (newSpeed < -1.0)
      shooter.set(-1.0);
    else {
      setSpeed(newSpeed);
    }
  }

  // Punch Commands
  public void punch() {
    punch.set(Constants.Shooter.punch);
  }

  public void resetPunch() {
    punch.set(Constants.Shooter.retract);
  }

  @Override
  protected void initDefaultCommand() {
  }
}