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 DoubleSolenoid hood1, hood2, punch;
  26   private Encoder encoder;
  27   private Lidar lidar;
  28   private Photogate photogate;
  29   private boolean usePhotoGate;
  30
  31   public Shooter() {
  32     shooter = new CANTalon(Constants.Shooter.PORT);
  33     hood1 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
  34         Constants.Shooter.HOOD_REVERSE);
  35     hood2 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
  36         Constants.Shooter.HOOD_REVERSE);
  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     usePhotoGate = true;
  43   }
  44
  45   /***
  46    * This method checks to see if the ball has successfully passed through the
  47    * intake rollers and is inside.
  48    *
  49    * @return whether the presence of the ball is true or false and returns the
  50    *         state of the condition (true or false).
  51    */
  52
  53   public boolean isBallInside() {
  54
  55     if (usePhotogate())
  56       return photogate.isBallPresent();
  57     else
  58       return true;
  59
  60   }
  61
  62   public void setSpeed(double speed) {
  63     if (speed > 1.0)
  64       shooter.set(1.0);
  65     else if (speed < -1.0)
  66       shooter.set(-1.0);
  67     else
  68       shooter.set(speed);
  69   }
  70
  71   public void stop() {
  72     this.setSpeed(0.0);
  73   }
  74
  75   public double getSpeed() {
  76     return encoder.getRate();
  77   }
  78
  79   /*
  80    * We are going to map a lidar distance to a shooter speed that will be set to
  81    * the shooter. This function does not yet exist so we will just use y=x but
  82    * when testing commences we shall create the function
  83    */
  84   public double getShooterSpeed() {
  85     double distanceToGoal = lidar.getDistance();
  86     double shooterSpeed = distanceToGoal; // Function to be determined
  87     return shooterSpeed;
  88   }
  89
  90   // Use negative # for decrement. Positive for increment.
  91
  92   public void changeSpeed(double change) {
  93     double newSpeed = getSpeed() + change;
  94     setSpeed(newSpeed);
  95   }
  96
  97   // Punch Commands
  98   public void extendPunch() {
  99     punch.set(Constants.Shooter.punch);
 100   }
 101
 102   public void retractPunch() {
 103     punch.set(Constants.Shooter.retract);
 104   }
 105
 106   public void raiseHood() {
 107     hood1.set(Constants.Shooter.open);
 108     hood2.set(Constants.Shooter.open);
 109   }
 110
 111   public void lowerHood() {
 112     hood1.set(Constants.Shooter.closed);
 113     hood2.set(Constants.Shooter.closed);
 114   }
 115
 116   public boolean isHoodDown() {
 117     if (hood1.get() == Constants.Shooter.open
 118         && hood2.get() == Constants.Shooter.open)
 119       return true;
 120     return false;
 121   }
 122
 123   public boolean usePhotogate() {
 124     return this.usePhotoGate;
 125   }
 126
 127   public void togglePhotoGate() {
 128     this.usePhotoGate = !this.usePhotoGate;
 129   }
 130
 131   @Override
 132   protected void initDefaultCommand() {
 133   }
 134 }