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.Lidar;
   5 import org.usfirst.frc.team3501.robot.MathLib;
   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.I2C;
  12 import edu.wpi.first.wpilibj.command.Subsystem;
  13
  14 /***
  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.
  19  *
  20  * @author superuser
  21  *
  22  */
  23
  24 public class Shooter extends Subsystem {
  25   private CANTalon shooter;
  26   private DoubleSolenoid hood, punch;
  27   private Encoder encoder;
  28   private Lidar lidar;
  29
  30   public Shooter() {
  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);
  36
  37     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  38         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  39
  40     lidar = new Lidar(I2C.Port.kMXP);
  41   }
  42
  43   /***
  44    * This method checks to see if the ball has successfully passed through the
  45    * intake rollers and is inside.
  46    *
  47    * @return whether the presence of the ball is true or false and returns the
  48    *         state of the condition (true or false).
  49    */
  50
  51   public boolean isBallInside() {
  52     return true;
  53   }
  54
  55   public void setSpeed(double speed) {
  56     speed = MathLib.constrain(speed, -1, 1);
  57     shooter.set(speed);
  58   }
  59
  60   public void stop() {
  61     this.setSpeed(0.0);
  62   }
  63
  64   public double getSpeed() {
  65     return encoder.getRate();
  66   }
  67
  68   // Use negative # for decrement. Positive for increment.
  69
  70   public void changeSpeed(double change) {
  71     double newSpeed = getSpeed() + change;
  72     setSpeed(newSpeed);
  73   }
  74
  75   // Punch Commands
  76   public void punch() {
  77     punch.set(Constants.Shooter.punch);
  78   }
  79
  80   public void retractPunch() {
  81     punch.set(Constants.Shooter.retract);
  82   }
  83
  84   public boolean isHoodOpen() {
  85     return hood.get() == Constants.Shooter.open;
  86   }
  87
  88   public void openHood() {
  89     hood.set(Constants.Shooter.open);
  90   }
  91
  92   public void closeHood() {
  93     hood.set(Constants.Shooter.closed);
  94   }
  95
  96   @Override
  97   protected void initDefaultCommand() {
  98   }
  99 }