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     if (usePhotogate())
  55       return photogate.isBallPresent();
  56     else
  57       return true;
  58   }
  59
  60   public void setSpeed(double speed) {
  61     if (speed > 1.0)
  62       shooter.set(1.0);
  63     else if (speed < -1.0)
  64       shooter.set(-1.0);
  65     else
  66       shooter.set(speed);
  67   }
  68
  69   public void stop() {
  70     this.setSpeed(0.0);
  71   }
  72
  73   public double getSpeed() {
  74     return encoder.getRate();
  75   }
  76
  77   /*
  78    * We are going to map a lidar distance to a shooter speed that will be set to
  79    * the shooter. This function does not yet exist so we will just use y=x but
  80    * when testing commences we shall create the function
  81    */
  82   public double getShooterSpeed() {
  83     double distanceToGoal = lidar.getDistance();
  84     double shooterSpeed = distanceToGoal; // Function to be determined
  85     return shooterSpeed;
  86   }
  87
  88   // Use negative # for decrement. Positive for increment.
  89
  90   public void changeSpeed(double change) {
  91     double newSpeed = getSpeed() + change;
  92     setSpeed(newSpeed);
  93   }
  94
  95   // Punch Commands
  96   public void extendPunch() {
  97     punch.set(Constants.Shooter.punch);
  98   }
  99
 100   public void retractPunch() {
 101     punch.set(Constants.Shooter.retract);
 102   }
 103
 104   public void raiseHood() {
 105     hood1.set(Constants.Shooter.open);
 106     hood2.set(Constants.Shooter.open);
 107   }
 108
 109   public void lowerHood() {
 110     hood1.set(Constants.Shooter.closed);
 111     hood2.set(Constants.Shooter.closed);
 112   }
 113
 114   public boolean isHoodDown() {
 115     if (hood1.get() == Constants.Shooter.open
 116         && hood2.get() == Constants.Shooter.open)
 117       return true;
 118     return false;
 119   }
 120
 121   public boolean usePhotogate() {
 122     return this.usePhotoGate;
 123   }
 124
 125   public void togglePhotoGate() {
 126     this.usePhotoGate = !this.usePhotoGate;
 127   }
 128
 129   @Override
 130   protected void initDefaultCommand() {
 131   }
 132 }