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
  30   public Shooter() {
  31     shooter = new CANTalon(Constants.Shooter.PORT);
  32     hood1 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
  33         Constants.Shooter.HOOD_REVERSE);
  34     hood2 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
  35         Constants.Shooter.HOOD_REVERSE);
  36     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
  37         Constants.Shooter.PUNCH_REVERSE);
  38
  39     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  40         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  41   }
  42
  43   /***
  44    * This method checks to see if the ball has successfully passed through the
  45    * intake rollers and is inside.
  46    *
  47    * @return whether the presence of the ball is true or false and returns the
  48    *         state of the condition (true or false).
  49    */
  50
  51   public boolean isBallInside() {
  52     if (usePhotogate())
  53       return photogate.isBallPresent();
  54     else
  55       return false;
  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   /*
  76    * We are going to map a lidar distance to a shooter speed that will be set to
  77    * the shooter. This function does not yet exist so we will just use y=x but
  78    * when testing commences we shall create the function
  79    */
  80   public double getShooterSpeed() {
  81     double distanceToGoal = lidar.getDistance();
  82     double shooterSpeed = distanceToGoal; // Function to be determined
  83     return shooterSpeed;
  84   }
  85
  86   // Use negative # for decrement. Positive for increment.
  87
  88   public void changeSpeed(double change) {
  89     double newSpeed = getSpeed() + change;
  90     setSpeed(newSpeed);
  91   }
  92
  93   // Punch Commands
  94   public void extendPunch() {
  95     punch.set(Constants.Shooter.punch);
  96   }
  97
  98   public void retractPunch() {
  99     punch.set(Constants.Shooter.retract);
 100   }
 101
 102   public void raiseHood() {
 103     hood1.set(Constants.Shooter.open);
 104     hood2.set(Constants.Shooter.open);
 105   }
 106
 107   public void lowerHood() {
 108     hood1.set(Constants.Shooter.closed);
 109     hood2.set(Constants.Shooter.closed);
 110   }
 111
 112   public boolean isHoodDown() {
 113     if (hood1.get() == Constants.Shooter.open
 114         && hood2.get() == Constants.Shooter.open)
 115       return true;
 116     return false;
 117   }
 118
 119   public boolean usePhotogate() {
 120     return true;
 121   }
 122
 123   @Override
 124   protected void initDefaultCommand() {
 125   }
 126 }