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 DoubleSolenoid hood, punch;
  25   private Encoder encoder;
  26   private Lidar lidar;
  27
  28   public Shooter() {
  29     shooter = new CANTalon(Constants.Shooter.PORT);
  30     hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
  31         Constants.Shooter.HOOD_REVERSE);
  32     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
  33         Constants.Shooter.PUNCH_REVERSE);
  34
  35     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  36         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  37
  38     lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
  39   }
  40
  41   /***
  42    * This method checks to see if the ball has successfully passed through the
  43    * intake rollers and is inside.
  44    *
  45    * @return whether the presence of the ball is true or false and returns the
  46    *         state of the condition (true or false).
  47    */
  48
  49   public boolean isBallInside() {
  50     return true;
  51   }
  52
  53   public void setSpeed(double speed) {
  54     if (speed > 1.0)
  55       shooter.set(1.0);
  56     else if (speed < -1.0)
  57       shooter.set(-1.0);
  58     else
  59       shooter.set(speed);
  60   }
  61
  62   public void stop() {
  63     this.setSpeed(0.0);
  64   }
  65
  66   public double getSpeed() {
  67     return encoder.getRate();
  68   }
  69
  70   // Use negative # for decrement. Positive for increment.
  71
  72   public void changeSpeed(double change) {
  73     double newSpeed = getSpeed() + change;
  74     setSpeed(newSpeed);
  75   }
  76
  77   // Punch Commands
  78   public void extendPunch() {
  79     punch.set(Constants.Shooter.punch);
  80   }
  81
  82   public void retractPunch() {
  83     punch.set(Constants.Shooter.retract);
  84   }
  85
  86   public boolean isHoodOpen() {
  87     return hood.get() == Constants.Shooter.open;
  88   }
  89
  90   public void openHood() {
  91     hood.set(Constants.Shooter.open);
  92   }
  93
  94   public void closeHood() {
  95     hood.set(Constants.Shooter.closed);
  96   }
  97
  98   @Override
  99   protected void initDefaultCommand() {
 100   }
 101 }