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
   5 import edu.wpi.first.wpilibj.DoubleSolenoid;
   6 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
   7 import edu.wpi.first.wpilibj.command.Subsystem;
   8
   9 /***
  10  * The Shooter consists of a platform and wheel, each controlled by separate
  11  * motors. The piston controlling the platform pushes the ball onto the wheel.
  12  * The wheel is controlled by a motor, which is running before the ball is
  13  * pushed onto the wheel. The spinning wheel propels the ball.
  14  *
  15  * @author superuser
  16  *
  17  */
  18
  19 public class Shooter extends Subsystem {
  20   private DoubleSolenoid catapult1, catapult2;
  21
  22   public Shooter() {
  23     catapult1 = new DoubleSolenoid(Constants.Shooter.CATAPULT1_MODULE,
  24         Constants.Shooter.CATAPULT1_FORWARD,
  25         Constants.Shooter.CATAPULT1_REVERSE);
  26     catapult2 = new DoubleSolenoid(Constants.Shooter.CATAPULT2_MODULE,
  27         Constants.Shooter.CATAPULT2_FORWARD,
  28         Constants.Shooter.CATAPULT2_REVERSE);
  29   }
  30
  31   // Catapult Commands
  32   public void fireCatapult() {
  33     catapult1.set(Constants.Shooter.SHOOT);
  34     catapult2.set(Constants.Shooter.SHOOT);
  35   }
  36
  37   // Retracts catapult pistons
  38   public void resetCatapult() {
  39     catapult1.set(Constants.Shooter.RESET);
  40     catapult2.set(Constants.Shooter.RESET);
  41   }
  42
  43   public Value getCatapult1State() {
  44     return catapult1.get();
  45   }
  46
  47   public Value getCatapult2State() {
  48     return catapult2.get();
  49   }
  50
  51   @Override
  52   protected void initDefaultCommand() {
  53   }
  54 }