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.MathLib;
   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
  14  * separate motors. The piston controlling the platform pushes the ball onto the
  15  * wheel. The wheel is controlled by a motor, which is running before the ball
  16  * is pushed
  17  * 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 CANTalon angleAdjuster;
  26   private DoubleSolenoid punch;
  27   private Encoder encoder;
  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_PORT,
  33         Constants.Shooter.PUNCH_REVERSE_PORT);
  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     speed = MathLib.constrain(speed, -1, 1);
  53     shooter.set(speed);
  54   }
  55
  56   public void stop() {
  57     this.setSpeed(0.0);
  58   }
  59
  60   public double getSpeed() {
  61     return encoder.getRate();
  62   }
  63
  64   // Use negative # for decrement. Positive for increment.
  65
  66   public void changeSpeed(double change) {
  67     double newSpeed = getSpeed() + change;
  68     setSpeed(newSpeed);
  69   }
  70
  71   // Punch Commands
  72   public void punch() {
  73     punch.set(Constants.Shooter.punch);
  74   }
  75
  76   public void retractPunch() {
  77     punch.set(Constants.Shooter.retract);
  78   }
  79
  80   @Override
  81   protected void initDefaultCommand() {
  82   }
  83 }