Commit | Line | Data |
---|---|---|
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; |
a0c3ca74 KZ |
9 | import edu.wpi.first.wpilibj.command.Subsystem; |
10 | ||
27fac8ed YA |
11 | /*** |
12 | * The Shooter consists of a platform and wheel, each controlled by | |
69a7e144 SC |
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 | |
27fac8ed YA |
16 | * onto the wheel. The spinning wheel propels the ball. |
17 | * | |
18 | * @author superuser | |
19 | * | |
20 | */ | |
21 | ||
a0c3ca74 | 22 | public class Shooter extends Subsystem { |
a0c3ca74 | 23 | private CANTalon shooter; |
4f516a69 | 24 | private CANTalon angleAdjuster; |
9b10474d | 25 | private DoubleSolenoid punch; |
2c52cb6e | 26 | private Encoder encoder; |
a0c3ca74 KZ |
27 | |
28 | public Shooter() { | |
29 | shooter = new CANTalon(Constants.Shooter.PORT); | |
ee92234b GK |
30 | angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT); |
31 | punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT, | |
32 | Constants.Shooter.PUNCH_REVERSE_PORT); | |
2c52cb6e K |
33 | |
34 | encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A, | |
35 | Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X); | |
a0c3ca74 KZ |
36 | } |
37 | ||
64055177 | 38 | /*** |
f08a2eef YA |
39 | * This method checks to see if the ball has successfully passed through the |
40 | * intake rollers and is inside. | |
41 | * | |
42 | * @return whether the presence of the ball is true or false and returns the | |
43 | * state of the condition (true or false). | |
44 | */ | |
45 | ||
46 | public boolean isBallInside() { | |
47 | return true; | |
48 | } | |
49 | ||
a0c3ca74 | 50 | public void setSpeed(double speed) { |
913142de | 51 | if (speed > 1.0) |
a0c3ca74 | 52 | shooter.set(1.0); |
913142de | 53 | else if (speed < -1.0) |
a0c3ca74 KZ |
54 | shooter.set(-1.0); |
55 | else | |
56 | shooter.set(speed); | |
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) { |
913142de | 70 | double newSpeed = getCurrentSetPoint() + change; |
64055177 | 71 | setSpeed(newSpeed); |
a0c3ca74 KZ |
72 | } |
73 | ||
9b10474d | 74 | // Punch Commands |
c8c4e6d9 | 75 | public void extendPunch() { |
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 | ||
a0c3ca74 KZ |
83 | @Override |
84 | protected void initDefaultCommand() { | |
85 | } | |
86 | } |