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.Constants.Shooter.State;
   5 import org.usfirst.frc.team3501.robot.Robot;
   6
   7 import edu.wpi.first.wpilibj.CANTalon;
   8 import edu.wpi.first.wpilibj.command.Subsystem;
   9
  10 public class Shooter extends Subsystem {
  11   private CANTalon shooter;
  12   private State state;
  13
  14   public Shooter() {
  15     shooter = new CANTalon(Constants.Shooter.PORT);
  16     state = State.STOPPED;
  17   }
  18
  19   public double getCurrentSpeed() {
  20     return shooter.get();
  21   }
  22
  23   public void setSpeed(double speed) {
  24     state = State.RUNNING;
  25     shooter.set(speed);
  26   }
  27
  28   public void shooterButtonsPressed() {
  29
  30     if (Robot.oi.incrementSpeed.get()) {
  31       changeSpeed(0.1);
  32     }
  33
  34     if (Robot.oi.decrementSpeed.get()) {
  35       changeSpeed(-0.1);
  36     }
  37
  38     if (Robot.oi.trigger.get()) {
  39       if (this.getState() == State.STOPPED)
  40         this.setSpeed(0.5);
  41     } else {
  42       if (this.getState() == State.RUNNING) {
  43         this.stop();
  44       }
  45     }
  46
  47     if (Robot.oi.outputCurrentShooterSpeed.get()) {
  48       System.out.println("Current Shooter Speed: " + getCurrentSpeed());
  49     }
  50   }
  51
  52   private void stop() {
  53     this.setSpeed(0.0);
  54   }
  55
  56   private State getState() {
  57     return state;
  58   }
  59
  60   // Use negative # for decrement. Positive for increment.
  61   public void changeSpeed(double change) {
  62     if (getCurrentSpeed() + change >= 1.0)
  63       shooter.set(1.0);
  64     else if (getCurrentSpeed() + change <= -1.0)
  65       shooter.set(-1.0);
  66     else {
  67       double newSpeed = getCurrentSpeed() + change;
  68       setSpeed(newSpeed);
  69     }
  70     this.state = State.RUNNING;
  71   }
  72
  73   @Override
  74   protected void initDefaultCommand() {
  75   }
  76 }