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.DoubleSolenoid;
   7 import edu.wpi.first.wpilibj.command.Subsystem;
   8
   9 public class Shooter extends Subsystem {
  10   private CANTalon shooter;
  11   private CANTalon angleAdjuster;
  12   private DoubleSolenoid punch;
  13
  14   public Shooter() {
  15     shooter = new CANTalon(Constants.Shooter.PORT);
  16     punch = new DoubleSolenoid(Constants.Shooter.FORWARD_PORT,
  17         Constants.Shooter.REVERSE_PORT);
  18   }
  19
  20   public double getCurrentSetPoint() {
  21     return shooter.get();
  22   }
  23
  24   public void setSpeed(double speed) {
  25     if (speed > 1.0)
  26       shooter.set(1.0);
  27     else if (speed < -1.0)
  28       shooter.set(-1.0);
  29     else
  30       shooter.set(speed);
  31   }
  32
  33   public void stop() {
  34     this.setSpeed(0.0);
  35   }
  36
  37   // Use negative # for decrement. Positive for increment.
  38   public void changeSpeed(double change) {
  39     double newSpeed = getCurrentSetPoint() + change;
  40     if (newSpeed > 1.0)
  41       shooter.set(1.0);
  42     else if (newSpeed < -1.0)
  43       shooter.set(-1.0);
  44     else {
  45       setSpeed(newSpeed);
  46     }
  47   }
  48
  49   // Punch Commands
  50   public void punch() {
  51     punch.set(Constants.Shooter.punch);
  52   }
  53
  54   public void resetPunch() {
  55     punch.set(Constants.Shooter.retract);
  56   }
  57
  58   @Override
  59   protected void initDefaultCommand() {
  60   }
  61 }