implement ShootAtHighGoal and add some helper methods

[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.DoubleSolenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.command.Subsystem;

/***
 * The Shooter consists of a platform and wheel, each controlled by separate
 * motors. The piston controlling the platform pushes the ball onto the wheel.
 * The wheel is controlled by a motor, which is running before the ball is
 * pushed onto the wheel. The spinning wheel propels the ball.
 *
 * @author superuser
 *
 */

public class Shooter extends Subsystem {
  private DoubleSolenoid catapult1, catapult2;

  public Shooter() {
    catapult1 = new DoubleSolenoid(Constants.Shooter.CATAPULT1_MODULE,
        Constants.Shooter.CATAPULT1_FORWARD,
        Constants.Shooter.CATAPULT1_REVERSE);
    catapult2 = new DoubleSolenoid(Constants.Shooter.CATAPULT2_MODULE,
        Constants.Shooter.CATAPULT2_FORWARD,
        Constants.Shooter.CATAPULT2_REVERSE);
  }

  // Catapult Commands
  public void fireCatapult() {
    catapult1.set(Constants.Shooter.SHOOT);
    catapult2.set(Constants.Shooter.SHOOT);
  }

  public void resetCatapult() {
    catapult1.set(Constants.Shooter.RESET);
    catapult2.set(Constants.Shooter.RESET);
  }

  public Value getCatapult1State() {
    return catapult1.get();
  }

  public Value getCatapult2State() {
    return catapult2.get();
  }

  @Override
  protected void initDefaultCommand() {
  }
}