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.DriveTrain.MODULE_B_ID,
  34         Constants.Shooter.RIGHT_HOOD_FORWARD,
  35         Constants.Shooter.RIGHT_HOOD_REVERSE); // right
  36     hood2 = new DoubleSolenoid(Constants.DriveTrain.MODULE_A_ID,
  37         Constants.Shooter.LEFT_HOOD_FORWARD,
  38         Constants.Shooter.LEFT_HOOD_REVERSE);// left
  39     punch = new DoubleSolenoid(Constants.DriveTrain.MODULE_A_ID,
  40         Constants.Shooter.PUNCH_FORWARD, Constants.Shooter.PUNCH_REVERSE);
  41
  42     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  43         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  44     usePhotoGate = true;
  45   }
  46
  47   /***
  48    * This method checks to see if the ball has successfully passed through the
  49    * intake rollers and is inside.
  50    *
  51    * @return whether the presence of the ball is true or false and returns the
  52    *         state of the condition (true or false).
  53    */
  54
  55   public boolean isBallInside() {
  56
  57     if (usePhotogate())
  58       return photogate.isBallPresent();
  59     else
  60       return true;
  61
  62   }
  63
  64   public void setSpeed(double speed) {
  65     if (speed > 1.0)
  66       shooter.set(1.0);
  67     else if (speed < -1.0)
  68       shooter.set(-1.0);
  69     else
  70       shooter.set(speed);
  71   }
  72
  73   public void stop() {
  74     this.setSpeed(0.0);
  75   }
  76
  77   public double getSpeed() {
  78     return encoder.getRate();
  79   }
  80
  81   /*
  82    * We are going to map a lidar distance to a shooter speed that will be set to
  83    * the shooter. This function does not yet exist so we will just use y=x but
  84    * when testing commences we shall create the function
  85    */
  86   public double getShooterSpeed() {
  87     double distanceToGoal = lidar.getDistance();
  88     double shooterSpeed = distanceToGoal; // Function to be determined
  89     return shooterSpeed;
  90   }
  91
  92   // Use negative # for decrement. Positive for increment.
  93
  94   public void changeSpeed(double change) {
  95     double newSpeed = getSpeed() + change;
  96     setSpeed(newSpeed);
  97   }
  98
  99   // Punch Commands
 100   public void extendPunch() {
 101     punch.set(Constants.Shooter.punch);
 102   }
 103
 104   public void retractPunch() {
 105     punch.set(Constants.Shooter.retract);
 106   }
 107
 108   public void raiseHood() {
 109     hood1.set(Constants.Shooter.open);
 110     hood2.set(Constants.Shooter.open);
 111   }
 112
 113   public void lowerHood() {
 114     hood1.set(Constants.Shooter.closed);
 115     hood2.set(Constants.Shooter.closed);
 116   }
 117
 118   public boolean isHoodDown() {
 119     if (hood1.get() == Constants.Shooter.open
 120         && hood2.get() == Constants.Shooter.open)
 121       return true;
 122     return false;
 123   }
 124
 125   public boolean usePhotogate() {
 126     return this.usePhotoGate;
 127   }
 128
 129   public void togglePhotoGate() {
 130     this.usePhotoGate = !this.usePhotoGate;
 131   }
 132
 133   @Override
 134   protected void initDefaultCommand() {
 135   }
 136 }