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.DoubleSolenoid.Value;
  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 hood, punch;
  26   private Encoder encoder;
  27   private Lidar lidar;
  28
  29   public Shooter() {
  30     shooter = new CANTalon(Constants.Shooter.PORT);
  31     hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
  32         Constants.Shooter.HOOD_REVERSE);
  33     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
  34         Constants.Shooter.PUNCH_REVERSE);
  35
  36     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  37         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  38   }
  39
  40   /***
  41    * This method checks to see if the ball has successfully passed through the
  42    * intake rollers and is inside.
  43    *
  44    * @return whether the presence of the ball is true or false and returns the
  45    *         state of the condition (true or false).
  46    */
  47
  48   public boolean isBallInside() {
  49     return true;
  50   }
  51
  52   public void setSpeed(double speed) {
  53     if (speed > 1.0)
  54       shooter.set(1.0);
  55     else if (speed < -1.0)
  56       shooter.set(-1.0);
  57     else
  58       shooter.set(speed);
  59   }
  60
  61   public void stop() {
  62     this.setSpeed(0.0);
  63   }
  64
  65   public double getSpeed() {
  66     return encoder.getRate();
  67   }
  68
  69   /*
  70    * We are going to map a lidar distance to a shooter speed that will be set to
  71    * the shooter. This function does not yet exist so we will just use y=x but
  72    * when testing commences we shall create the function
  73    */
  74   public double getShooterSpeed() {
  75     double distanceToGoal = lidar.getDistance();
  76     double shooterSpeed = distanceToGoal; // Function to be determined
  77     return shooterSpeed;
  78   }
  79
  80   // Use negative # for decrement. Positive for increment.
  81
  82   public void changeSpeed(double change) {
  83     double newSpeed = getSpeed() + change;
  84     setSpeed(newSpeed);
  85   }
  86
  87   // Punch Commands
  88   public void extendPunch() {
  89     punch.set(Constants.Shooter.punch);
  90   }
  91
  92   public void retractPunch() {
  93     punch.set(Constants.Shooter.retract);
  94   }
  95
  96   public void raiseHood() {
  97     hood.set(Constants.Shooter.open);
  98   }
  99
 100   public void lowerHood() {
 101     hood.set(Constants.Shooter.closed);
 102   }
 103
 104   public boolean isHoodDown() {
 105     if (hood.get() == Value.kReverse)
 106       return true;
 107     return false;
 108   }
 109
 110   @Override
 111   protected void initDefaultCommand() {
 112   }
 113 }