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.CANTalon;
   6 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
   7 import edu.wpi.first.wpilibj.DoubleSolenoid;
   8 import edu.wpi.first.wpilibj.Encoder;
   9 import edu.wpi.first.wpilibj.command.Subsystem;
  10
  11 /***
  12  * The Shooter consists of a platform and wheel, each controlled by
  13  * separate motors. The piston controlling the platform pushes the ball onto the
  14  * wheel. The wheel is controlled by a motor, which is running before the ball
  15  * is pushed
  16  * 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 CANTalon angleAdjuster;
  25   private DoubleSolenoid punch;
  26   private Encoder encoder;
  27
  28   public Shooter() {
  29     shooter = new CANTalon(Constants.Shooter.PORT);
  30     angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
  31     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
  32         Constants.Shooter.PUNCH_REVERSE_PORT);
  33
  34     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  35         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  36   }
  37
  38   /***
  39    * This method checks to see if the ball has successfully passed through the
  40    * intake rollers and is inside.
  41    *
  42    * @return whether the presence of the ball is true or false and returns the
  43    *         state of the condition (true or false).
  44    */
  45
  46   public boolean isBallInside() {
  47     return true;
  48   }
  49
  50   public void setSpeed(double speed) {
  51     if (speed > 1.0)
  52       shooter.set(1.0);
  53     else if (speed < -1.0)
  54       shooter.set(-1.0);
  55     else
  56       shooter.set(speed);
  57   }
  58
  59   public void stop() {
  60     this.setSpeed(0.0);
  61   }
  62
  63   public double getSpeed() {
  64     return encoder.getRate();
  65   }
  66
  67   // Use negative # for decrement. Positive for increment.
  68
  69   public void changeSpeed(double change) {
  70     double newSpeed = getSpeed() + change;
  71     setSpeed(newSpeed);
  72   }
  73
  74   // Punch Commands
  75   public void extendPunch() {
  76     punch.set(Constants.Shooter.punch);
  77   }
  78
  79   public void retractPunch() {
  80     punch.set(Constants.Shooter.retract);
  81   }
  82
  83   @Override
  84   protected void initDefaultCommand() {
  85   }
  86 }