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.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;
  12
  13 /***
  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.
  18  *
  19  * @author superuser
  20  *
  21  */
  22
  23 public class Shooter extends Subsystem {
  24   private CANTalon shooter;
  25   private DoubleSolenoid hood, punch;
  26   private Encoder encoder;
  27   private Lidar lidar;
  28
  29   public Shooter() {
  30     shooter = new CANTalon(Constants.Shooter.PORT);
  31     hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
  32         Constants.Shooter.HOOD_REVERSE);
  33     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
  34         Constants.Shooter.PUNCH_REVERSE);
  35
  36     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  37         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  38
  39     lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
  40   }
  41
  42   /***
  43    * This method checks to see if the ball has successfully passed through the
  44    * intake rollers and is inside.
  45    *
  46    * @return whether the presence of the ball is true or false and returns the
  47    *         state of the condition (true or false).
  48    */
  49
  50   public boolean isBallInside() {
  51     return true;
  52   }
  53
  54   public void setSpeed(double speed) {
  55     speed = MathLib.constrain(speed, -1, 1);
  56     shooter.set(speed);
  57   }
  58
  59   // This getDistance() will return the distance using the lidar from the
  60   // desired target during match. This distance is returned in units of
  61   // CENTIMETERS.
  62   public double getDistance() {
  63     return lidar.getDistance();
  64   }
  65
  66   public void stop() {
  67     this.setSpeed(0.0);
  68   }
  69
  70   public double getSpeed() {
  71     return encoder.getRate();
  72   }
  73
  74   // Use negative # for decrement. Positive for increment.
  75
  76   public void changeSpeed(double change) {
  77     double newSpeed = getSpeed() + change;
  78     setSpeed(newSpeed);
  79   }
  80
  81   // Punch Commands
  82   public void punch() {
  83     punch.set(Constants.Shooter.punch);
  84   }
  85
  86   public void retractPunch() {
  87     punch.set(Constants.Shooter.retract);
  88   }
  89
  90   public boolean isHoodOpen() {
  91     return hood.get() == Constants.Shooter.open;
  92   }
  93
  94   public void openHood() {
  95     hood.set(Constants.Shooter.open);
  96   }
  97
  98   public void closeHood() {
  99     hood.set(Constants.Shooter.closed);
 100   }
 101
 102   @Override
 103   protected void initDefaultCommand() {
 104   }
 105 }