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.CANTalon;
   6 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
   7 import edu.wpi.first.wpilibj.DoubleSolenoid;
   8 import edu.wpi.first.wpilibj.Encoder;
   9 import edu.wpi.first.wpilibj.command.Subsystem;
  10
  11 /***
  12  * The Shooter consists of a platform and wheel, each controlled by
  13  * separate motors. The motor controlling the platform pushes the ball onto the
  14  * wheel. The wheel is controlled by a motor, which runs once the ball is pushed
  15  * onto the wheel. The spinning wheel propels the ball.
  16  *
  17  * @author superuser
  18  *
  19  */
  20
  21 public class Shooter extends Subsystem {
  22   private CANTalon shooter;
  23   private CANTalon angleAdjuster;
  24   private DoubleSolenoid punch;
  25   private Encoder encoder;
  26
  27   public Shooter() {
  28     shooter = new CANTalon(Constants.Shooter.PORT);
  29     angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
  30     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
  31         Constants.Shooter.PUNCH_REVERSE_PORT);
  32
  33     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  34         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  35   }
  36
  37   public double getCurrentSetPoint() {
  38     return shooter.get();
  39   }
  40
  41   /***
  42    * This method checks to see if the ball has successfully passed through the
  43    * intake rollers and is inside.
  44    *
  45    * @return whether the presence of the ball is true or false and returns the
  46    *         state of the condition (true or false).
  47    */
  48
  49   public boolean isBallInside() {
  50     return true;
  51   }
  52
  53   public void setSpeed(double speed) {
  54     if (speed > 1.0)
  55       shooter.set(1.0);
  56     else if (speed < -1.0)
  57       shooter.set(-1.0);
  58     else
  59       shooter.set(speed);
  60   }
  61
  62   public void stop() {
  63     this.setSpeed(0.0);
  64   }
  65
  66   public double getSpeed() {
  67     return encoder.getRate();
  68   }
  69
  70   // Use negative # for decrement. Positive for increment.
  71
  72   public void changeSpeed(double change) {
  73     double newSpeed = getCurrentSetPoint() + change;
  74     if (newSpeed > 1.0)
  75       shooter.set(1.0);
  76     else if (newSpeed < -1.0)
  77       shooter.set(-1.0);
  78     else {
  79       setSpeed(newSpeed);
  80     }
  81   }
  82
  83   // Punch Commands
  84   public void punch() {
  85     punch.set(Constants.Shooter.punch);
  86   }
  87
  88   public void resetPunch() {
  89     punch.set(Constants.Shooter.retract);
  90   }
  91
  92   @Override
  93   protected void initDefaultCommand() {
  94   }
  95 }