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 public class Shooter extends Subsystem {
  12   private CANTalon shooter;
  13   private CANTalon angleAdjuster;
  14   private DoubleSolenoid punch;
  15   private Encoder encoder;
  16
  17   public Shooter() {
  18     shooter = new CANTalon(Constants.Shooter.PORT);
  19     angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
  20     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
  21         Constants.Shooter.PUNCH_REVERSE_PORT);
  22
  23     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  24         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  25   }
  26
  27   public double getCurrentSetPoint() {
  28     return shooter.get();
  29   }
  30
  31   public void setSpeed(double speed) {
  32     if (speed > 1.0)
  33       shooter.set(1.0);
  34     else if (speed < -1.0)
  35       shooter.set(-1.0);
  36     else
  37       shooter.set(speed);
  38   }
  39
  40   public void stop() {
  41     this.setSpeed(0.0);
  42   }
  43
  44   public double getSpeed() {
  45     return encoder.getRate();
  46   }
  47
  48   // Use negative # for decrement. Positive for increment.
  49   public void changeSpeed(double change) {
  50     double newSpeed = getCurrentSetPoint() + change;
  51     if (newSpeed > 1.0)
  52       shooter.set(1.0);
  53     else if (newSpeed < -1.0)
  54       shooter.set(-1.0);
  55     else {
  56       setSpeed(newSpeed);
  57     }
  58   }
  59
  60   // Punch Commands
  61   public void punch() {
  62     punch.set(Constants.Shooter.punch);
  63   }
  64
  65   public void resetPunch() {
  66     punch.set(Constants.Shooter.retract);
  67   }
  68
  69   @Override
  70   protected void initDefaultCommand() {
  71   }
  72 }