1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
4 import org
.usfirst
.frc
.team3501
.robot
.sensors
.Lidar
;
5 import org
.usfirst
.frc
.team3501
.robot
.sensors
.Photogate
;
7 import edu
.wpi
.first
.wpilibj
.CANTalon
;
8 import edu
.wpi
.first
.wpilibj
.CounterBase
.EncodingType
;
9 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
;
10 import edu
.wpi
.first
.wpilibj
.Encoder
;
11 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
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.
23 public class Shooter
extends Subsystem
{
24 private CANTalon shooter
;
25 private DoubleSolenoid hood1
, hood2
, punch
;
26 private Encoder encoder
;
28 private Photogate photogate
;
31 shooter
= new CANTalon(Constants
.Shooter
.PORT
);
32 hood1
= new DoubleSolenoid(Constants
.Shooter
.HOOD_FORWARD
,
33 Constants
.Shooter
.HOOD_REVERSE
);
34 hood2
= new DoubleSolenoid(Constants
.Shooter
.HOOD_FORWARD
,
35 Constants
.Shooter
.HOOD_REVERSE
);
36 punch
= new DoubleSolenoid(Constants
.Shooter
.PUNCH_FORWARD
,
37 Constants
.Shooter
.PUNCH_REVERSE
);
39 encoder
= new Encoder(Constants
.Shooter
.ENCODER_PORT_A
,
40 Constants
.Shooter
.ENCODER_PORT_B
, false, EncodingType
.k4X
);
44 * This method checks to see if the ball has successfully passed through the
45 * intake rollers and is inside.
47 * @return whether the presence of the ball is true or false and returns the
48 * state of the condition (true or false).
51 public boolean isBallInside() {
52 return photogate
.isBallPresent();
55 public void setSpeed(double speed
) {
58 else if (speed
< -1.0)
68 public double getSpeed() {
69 return encoder
.getRate();
73 * We are going to map a lidar distance to a shooter speed that will be set to
74 * the shooter. This function does not yet exist so we will just use y=x but
75 * when testing commences we shall create the function
77 public double getShooterSpeed() {
78 double distanceToGoal
= lidar
.getDistance();
79 double shooterSpeed
= distanceToGoal
; // Function to be determined
83 // Use negative # for decrement. Positive for increment.
85 public void changeSpeed(double change
) {
86 double newSpeed
= getSpeed() + change
;
91 public void extendPunch() {
92 punch
.set(Constants
.Shooter
.punch
);
95 public void retractPunch() {
96 punch
.set(Constants
.Shooter
.retract
);
99 public void raiseHood() {
100 hood1
.set(Constants
.Shooter
.open
);
101 hood2
.set(Constants
.Shooter
.open
);
104 public void lowerHood() {
105 hood1
.set(Constants
.Shooter
.closed
);
106 hood2
.set(Constants
.Shooter
.closed
);
109 public boolean isHoodDown() {
110 if (hood1
.get() == Constants
.Shooter
.open
111 && hood2
.get() == Constants
.Shooter
.open
)
117 protected void initDefaultCommand() {