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
   5 import edu.wpi.first.wpilibj.AnalogPotentiometer;
   6 import edu.wpi.first.wpilibj.CANTalon;
   7 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
   8 import edu.wpi.first.wpilibj.DoubleSolenoid;
   9 import edu.wpi.first.wpilibj.Encoder;
  10 import edu.wpi.first.wpilibj.command.Subsystem;
  11
  12 /***
  13  * The Shooter consists of a platform and wheel, each controlled by separate
  14  * motors. The piston controlling the platform pushes the ball onto the wheel.
  15  * The wheel is controlled by a motor, which is running before the ball is
  16  * pushed onto the wheel. The spinning wheel propels the ball.
  17  *
  18  * @author superuser
  19  *
  20  */
  21
  22 public class Shooter extends Subsystem {
  23   private CANTalon shooter;
  24   private DoubleSolenoid hood, punch;
  25   private Encoder encoder;
  26   private Lidar lidar;
  27
  28   public Shooter() {
  29     leftLidar = new AnalogPotentiometer(0);
  30     rightLidar = new AnalogPotentiometer(0);
  31     shooter = new CANTalon(Constants.Shooter.PORT);
  32     hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
  33         Constants.Shooter.HOOD_REVERSE);
  34     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
  35         Constants.Shooter.PUNCH_REVERSE);
  36
  37     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  38         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  39
  40     lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
  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 void openHood() {
  93     hood.set(Constants.Shooter.open);
  94   }
  95
  96   public void closeHood() {
  97     hood.set(Constants.Shooter.closed);
  98   }
  99
 100   @Override
 101   protected void initDefaultCommand() {
 102   }
 103 }