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   /***
  38    *
  39    * @return current sensor position??
  40    */
  41   public double getCurrentSetPoint() {
  42     return shooter.get();
  43   }
  44
  45   /***
  46    * This method checks to see if the ball has successfully passed through the
  47    * intake rollers and is inside.
  48    *
  49    * @return whether the presence of the ball is true or false and returns the
  50    *         state of the condition (true or false).
  51    */
  52
  53   public boolean isBallInside() {
  54     return true;
  55   }
  56
  57   public void setSpeed(double speed) {
  58     if (speed > 1.0)
  59       shooter.set(1.0);
  60     else if (speed < -1.0)
  61       shooter.set(-1.0);
  62     else
  63       shooter.set(speed);
  64   }
  65
  66   public void stop() {
  67     this.setSpeed(0.0);
  68   }
  69
  70   public double getSpeed() {
  71     return encoder.getRate();
  72   }
  73
  74   // Use negative # for decrement. Positive for increment.
  75
  76   public void changeSpeed(double change) {
  77     double newSpeed = getCurrentSetPoint() + change;
  78     setSpeed(newSpeed);
  79   }
  80
  81   // Punch Commands
  82   public void punch() {
  83     punch.set(Constants.Shooter.punch);
  84   }
  85
  86   public void resetPunch() {
  87     punch.set(Constants.Shooter.retract);
  88   }
  89
  90   @Override
  91   protected void initDefaultCommand() {
  92   }
  93 }