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