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.Photogate;
   5
   6 import edu.wpi.first.wpilibj.DoubleSolenoid;
   7 import edu.wpi.first.wpilibj.command.Subsystem;
   8
   9 /***
  10  * The Shooter consists of a platform and wheel, each controlled by separate
  11  * motors. The piston controlling the platform pushes the ball onto the wheel.
  12  * The wheel is controlled by a motor, which is running before the ball is
  13  * pushed onto the wheel. The spinning wheel propels the ball.
  14  *
  15  * @author superuser
  16  *
  17  */
  18
  19 public class Shooter extends Subsystem {
  20   private DoubleSolenoid catapult1, catapult2;
  21   private Photogate photogate;
  22   private boolean usePhotoGate;
  23
  24   public Shooter() {
  25     catapult1 = new DoubleSolenoid(Constants.Shooter.CATAPULT1_MODULE,
  26         Constants.Shooter.CATAPULT1_FORWARD,
  27         Constants.Shooter.CATAPULT1_REVERSE);
  28     catapult2 = new DoubleSolenoid(Constants.Shooter.CATAPULT2_MODULE,
  29         Constants.Shooter.CATAPULT2_FORWARD,
  30         Constants.Shooter.CATAPULT2_REVERSE);
  31     usePhotoGate = false;
  32   }
  33
  34   /***
  35    * This method checks to see if the ball has successfully passed through the
  36    * intake rollers and is inside.
  37    *
  38    * @return whether the presence of the ball is true or false and returns the
  39    *         state of the condition (true or false).
  40    */
  41
  42   public boolean isBallInside() {
  43     if (usePhotogate())
  44       return photogate.isBallPresent();
  45     else
  46       return true;
  47   }
  48
  49   // Catapult Commands
  50   public void fireCatapult() {
  51     catapult1.set(Constants.Shooter.shoot);
  52     catapult2.set(Constants.Shooter.shoot);
  53   }
  54
  55   public void resetCatapult() {
  56     catapult1.set(Constants.Shooter.reset);
  57     catapult2.set(Constants.Shooter.reset);
  58   }
  59
  60   public boolean usePhotogate() {
  61     return this.usePhotoGate;
  62   }
  63
  64   public void togglePhotoGate() {
  65     this.usePhotoGate = !this.usePhotoGate;
  66   }
  67
  68   @Override
  69   protected void initDefaultCommand() {
  70   }
  71 }