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.sensors.Lidar;
   5 import org.usfirst.frc.team3501.robot.sensors.Photogate;
   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 CANTalon angleAdjuster;
  26   private DoubleSolenoid hood, punch;
  27   private Encoder encoder;
  28   private Lidar lidar;
  29   private Photogate photogate;
  30
  31   public Shooter() {
  32     shooter = new CANTalon(Constants.Shooter.PORT);
  33     angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
  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
  41   /***
  42    * This method checks to see if the ball has successfully passed through the
  43    * intake rollers and is inside.
  44    *
  45    * @return whether the presence of the ball is true or false and returns the
  46    *         state of the condition (true or false).
  47    */
  48
  49   public boolean isBallInside() {
  50     return photogate.isBallPresent();
  51   }
  52
  53   public void setSpeed(double speed) {
  54     if (speed > 1.0)
  55       shooter.set(1.0);
  56     else if (speed < -1.0)
  57       shooter.set(-1.0);
  58     else
  59       shooter.set(speed);
  60   }
  61
  62   public void stop() {
  63     this.setSpeed(0.0);
  64   }
  65
  66   public double getSpeed() {
  67     return encoder.getRate();
  68   }
  69
  70   /*
  71    * We are going to map a lidar distance to a shooter speed that will be set to
  72    * the shooter. This function does not yet exist so we will just use y=x but
  73    * when testing commences we shall create the function
  74    */
  75   public double getShooterSpeed() {
  76     double distanceToGoal = lidar.getDistance();
  77     double shooterSpeed = distanceToGoal; // Function to be determined
  78     return shooterSpeed;
  79   }
  80
  81   // Use negative # for decrement. Positive for increment.
  82
  83   public void changeSpeed(double change) {
  84     double newSpeed = getSpeed() + change;
  85     setSpeed(newSpeed);
  86   }
  87
  88   // Punch Commands
  89   public void extendPunch() {
  90     punch.set(Constants.Shooter.punch);
  91   }
  92
  93   public void retractPunch() {
  94     punch.set(Constants.Shooter.retract);
  95   }
  96
  97   @Override
  98   protected void initDefaultCommand() {
  99   }
 100 }