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
   6 import edu.wpi.first.wpilibj.CANTalon;
   7 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
   8 import edu.wpi.first.wpilibj.DoubleSolenoid;
   9 import edu.wpi.first.wpilibj.Encoder;
  10 import edu.wpi.first.wpilibj.command.Subsystem;
  11
  12 /***
  13  * The Shooter consists of a platform and wheel, each controlled by separate
  14  * motors. The piston controlling the platform pushes the ball onto the wheel.
  15  * The wheel is controlled by a motor, which is running before the ball is
  16  * pushed 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 CANTalon angleAdjuster;
  25   private DoubleSolenoid hood, punch;
  26   private Encoder encoder;
  27   private Lidar lidar;
  28
  29   public Shooter() {
  30     shooter = new CANTalon(Constants.Shooter.PORT);
  31     angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
  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
  39   /***
  40    * This method checks to see if the ball has successfully passed through the
  41    * intake rollers and is inside.
  42    *
  43    * @return whether the presence of the ball is true or false and returns the
  44    *         state of the condition (true or false).
  45    */
  46
  47   public boolean isBallInside() {
  48     return true;
  49   }
  50
  51   public void setSpeed(double speed) {
  52     if (speed > 1.0)
  53       shooter.set(1.0);
  54     else if (speed < -1.0)
  55       shooter.set(-1.0);
  56     else
  57       shooter.set(speed);
  58   }
  59
  60   public void stop() {
  61     this.setSpeed(0.0);
  62   }
  63
  64   public double getSpeed() {
  65     return encoder.getRate();
  66   }
  67
  68   /*
  69    * We are going to map a lidar distance to a shooter speed that will be set to
  70    * the shooter. This function does not yet exist so we will just use y=x but
  71    * when testing commences we shall create the function
  72    */
  73   public double getShooterSpeed() {
  74     double distanceToGoal = lidar.getDistance();
  75     double shooterSpeed = distanceToGoal; // Function to be determined
  76     return shooterSpeed;
  77   }
  78
  79   // Use negative # for decrement. Positive for increment.
  80
  81   public void changeSpeed(double change) {
  82     double newSpeed = getSpeed() + change;
  83     setSpeed(newSpeed);
  84   }
  85
  86   // Punch Commands
  87   public void extendPunch() {
  88     punch.set(Constants.Shooter.punch);
  89   }
  90
  91   public void retractPunch() {
  92     punch.set(Constants.Shooter.retract);
  93   }
  94
  95   @Override
  96   protected void initDefaultCommand() {
  97   }
  98 }