f01d8c2743c1ef50c89f09da92cadf1ddb39989d
1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
4 import org
.usfirst
.frc
.team3501
.robot
.Lidar
;
5 import org
.usfirst
.frc
.team3501
.robot
.MathLib
;
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
.I2C
;
12 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
15 * The Shooter consists of a platform and wheel, each controlled by separate
16 * motors. The piston controlling the platform pushes the ball onto the wheel.
17 * The wheel is controlled by a motor, which is running before the ball is
18 * pushed onto the wheel. The spinning wheel propels the ball.
24 public class Shooter
extends Subsystem
{
25 private CANTalon shooter
;
26 private DoubleSolenoid hood
, punch
;
27 private Encoder encoder
;
31 shooter
= new CANTalon(Constants
.Shooter
.PORT
);
32 hood
= new DoubleSolenoid(Constants
.Shooter
.HOOD_FORWARD
,
33 Constants
.Shooter
.HOOD_REVERSE
);
34 punch
= new DoubleSolenoid(Constants
.Shooter
.PUNCH_FORWARD
,
35 Constants
.Shooter
.PUNCH_REVERSE
);
37 encoder
= new Encoder(Constants
.Shooter
.ENCODER_PORT_A
,
38 Constants
.Shooter
.ENCODER_PORT_B
, false, EncodingType
.k4X
);
40 lidar
= new Lidar(I2C
.Port
.kMXP
);
44 * This method checks to see if the ball has successfully passed through the
45 * intake rollers and is inside.
47 * @return whether the presence of the ball is true or false and returns the
48 * state of the condition (true or false).
51 public boolean isBallInside() {
55 public void setSpeed(double speed
) {
56 speed
= MathLib
.constrain(speed
, -1, 1);
64 public double getSpeed() {
65 return encoder
.getRate();
68 // Use negative # for decrement. Positive for increment.
70 public void changeSpeed(double change
) {
71 double newSpeed
= getSpeed() + change
;
77 punch
.set(Constants
.Shooter
.punch
);
80 public void retractPunch() {
81 punch
.set(Constants
.Shooter
.retract
);
84 public boolean isHoodOpen() {
85 return hood
.get() == Constants
.Shooter
.open
;
88 public void openHood() {
89 hood
.set(Constants
.Shooter
.open
);
92 public void closeHood() {
93 hood
.set(Constants
.Shooter
.closed
);
97 protected void initDefaultCommand() {