challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2
   3 import org.usfirst.frc.team3501.robot.Constants;
   4 import org.usfirst.frc.team3501.robot.Lidar;
   5 import org.usfirst.frc.team3501.robot.MathLib;
   6
   7 import edu.wpi.first.wpilibj.AnalogPotentiometer;
   8 import edu.wpi.first.wpilibj.CANTalon;
   9 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
  10 import edu.wpi.first.wpilibj.DoubleSolenoid;
  11 import edu.wpi.first.wpilibj.Encoder;
  12 import edu.wpi.first.wpilibj.command.Subsystem;
  13
  14 /***
  15  * The Shooter consists of a platform and wheel, each controlled by separate
  16  * motors. The piston controlling the platform pushes the ball onto the wheel.
  17  * The wheel is controlled by a motor, which is running before the ball is
  18  * pushed onto the wheel. The spinning wheel propels the ball.
  19  *
  20  * @author superuser
  21  *
  22  */
  23
  24 public class Shooter extends Subsystem {
  25   private CANTalon shooter;
  26   private CANTalon angleAdjuster;
  27   private DoubleSolenoid hood, punch;
  28   private Encoder encoder;
  29   private Lidar lidar;
  30
  31   public Shooter() {
  32     leftLidar = new AnalogPotentiometer(0);
  33     rightLidar = new AnalogPotentiometer(0);
  34     shooter = new CANTalon(Constants.Shooter.PORT);
  35     angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
  36     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
  37         Constants.Shooter.PUNCH_REVERSE_PORT);
  38
  39     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  40         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  41   }
  42
  43   /***
  44    * This method checks to see if the ball has successfully passed through the
  45    * intake rollers and is inside.
  46    *
  47    * @return whether the presence of the ball is true or false and returns the
  48    *         state of the condition (true or false).
  49    */
  50
  51   public boolean isBallInside() {
  52     return true;
  53   }
  54
  55   public void setSpeed(double speed) {
  56     if (speed > 1.0)
  57       shooter.set(1.0);
  58     else if (speed < -1.0)
  59       shooter.set(-1.0);
  60     else
  61       shooter.set(speed);
  62   }
  63
  64   public void stop() {
  65     this.setSpeed(0.0);
  66   }
  67
  68   public double getSpeed() {
  69     return encoder.getRate();
  70   }
  71
  72   // Use negative # for decrement. Positive for increment.
  73
  74   public void changeSpeed(double change) {
  75     double newSpeed = getSpeed() + change;
  76     setSpeed(newSpeed);
  77   }
  78
  79   // Punch Commands
  80   public void extendPunch() {
  81     punch.set(Constants.Shooter.punch);
  82   }
  83
  84   public void retractPunch() {
  85     punch.set(Constants.Shooter.retract);
  86   }
  87
  88   @Override
  89   protected void initDefaultCommand() {
  90   }
  91
  92   public double getLeftDistanceToTower() {
  93     // TODO: find the method that actually gets distance
  94     return leftLidar.get();
  95   }
  96
  97   public double getRightDistanceToTower() {
  98     return rightLidar.get();
  99   }
 100 }