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
  16  * separate motors. The piston controlling the platform pushes the ball onto the
  17  * wheel. The wheel is controlled by a motor, which is running before the ball
  18  * is pushed
  19  * onto the wheel. The spinning wheel propels the ball.
  20  *
  21  * @author superuser
  22  *
  23  */
  24
  25 public class Shooter extends Subsystem {
  26   private CANTalon shooter;
  27   private CANTalon angleAdjuster;
  28   private DoubleSolenoid hood, punch;
  29   private Encoder encoder;
  30   private Lidar lidar;
  31
  32   public Shooter() {
  33     shooter = new CANTalon(Constants.Shooter.PORT);
  34     hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
  35         Constants.Shooter.HOOD_REVERSE);
  36         angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
  37     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
  38         Constants.Shooter.PUNCH_REVERSE);
  39
  40     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  41         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  42
  43     lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
  44   }
  45
  46   /***
  47    * This method checks to see if the ball has successfully passed through the
  48    * intake rollers and is inside.
  49    *
  50    * @return whether the presence of the ball is true or false and returns the
  51    *         state of the condition (true or false).
  52    */
  53
  54   public boolean isBallInside() {
  55     return true;
  56   }
  57
  58   public void setSpeed(double speed) {
  59     if (speed > 1.0)
  60       shooter.set(1.0);
  61     else if (speed < -1.0)
  62       shooter.set(-1.0);
  63     else
  64       shooter.set(speed);
  65   }
  66
  67   public void stop() {
  68     this.setSpeed(0.0);
  69   }
  70
  71   public double getSpeed() {
  72     return encoder.getRate();
  73   }
  74
  75   // Use negative # for decrement. Positive for increment.
  76
  77   public void changeSpeed(double change) {
  78     double newSpeed = getSpeed() + change;
  79     setSpeed(newSpeed);
  80   }
  81
  82   // Punch Commands
  83   public void extendPunch() {
  84     punch.set(Constants.Shooter.punch);
  85   }
  86
  87   public void retractPunch() {
  88     punch.set(Constants.Shooter.retract);
  89   }
  90
  91   public boolean isHoodOpen() {
  92     return hood.get() == Constants.Shooter.open;
  93   }
  94
  95   public void openHood() {
  96     hood.set(Constants.Shooter.open);
  97   }
  98
  99   public void closeHood() {
 100     hood.set(Constants.Shooter.closed);
 101   }
 102
 103   @Override
 104   protected void initDefaultCommand() {
 105   }
 106 }