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.DoubleSolenoid;
   6 import edu.wpi.first.wpilibj.command.Subsystem;
   7
   8 /***
   9  * The Shooter consists of a platform and wheel, each controlled by separate
  10  * motors. The piston controlling the platform pushes the ball onto the wheel.
  11  * The wheel is controlled by a motor, which is running before the ball is
  12  * pushed onto the wheel. The spinning wheel propels the ball.
  13  *
  14  * @author superuser
  15  *
  16  */
  17
  18 public class Shooter extends Subsystem {
  19   private DoubleSolenoid catapult1, catapult2;
  20
  21   public Shooter() {
  22     catapult1 = new DoubleSolenoid(Constants.Shooter.CATAPULT1_MODULE,
  23         Constants.Shooter.CATAPULT1_FORWARD,
  24         Constants.Shooter.CATAPULT1_REVERSE);
  25     catapult2 = new DoubleSolenoid(Constants.Shooter.CATAPULT2_MODULE,
  26         Constants.Shooter.CATAPULT2_FORWARD,
  27         Constants.Shooter.CATAPULT2_REVERSE);
  28   }
  29
  30   // Catapult Commands
  31   public void fireCatapult() {
  32     catapult1.set(Constants.Shooter.SHOOT);
  33     catapult2.set(Constants.Shooter.SHOOT);
  34   }
  35
  36   public void resetCatapult() {
  37     catapult1.set(Constants.Shooter.RESET);
  38     catapult2.set(Constants.Shooter.RESET);
  39   }
  40
  41   @Override
  42   protected void initDefaultCommand() {
  43   }
  44 }