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 import org.usfirst.frc.team3501.robot.Constants.Shooter.State;
   5 import org.usfirst.frc.team3501.robot.Robot;
   6
   7 import edu.wpi.first.wpilibj.CANTalon;
   8 import edu.wpi.first.wpilibj.command.Subsystem;
   9
  10 public class Shooter extends Subsystem {
  11   private CANTalon shooter;
  12   private State state;
  13
  14   public Shooter() {
  15     shooter = new CANTalon(Constants.Shooter.PORT);
  16     state = State.STOPPED;
  17   }
  18
  19   public double getCurrentSpeed() {
  20     return shooter.get();
  21   }
  22
  23   public void setSpeed(double speed) {
  24     state = State.RUNNING;
  25     shooter.set(speed);
  26   }
  27
  28   public void shooterButtonsPressed() {
  29
  30     if (Robot.oi.rightJoystick
  31         .getRawButton(Constants.OI.INCREMENT_SHOOTER_PORT)) {
  32       changeSpeed(0.1);
  33     }
  34
  35     if (Robot.oi.rightJoystick
  36         .getRawButton(Constants.OI.DECREMENT_SHOOTER_PORT)) {
  37       changeSpeed(-0.1);
  38     }
  39
  40     if (Robot.oi.rightJoystick.getRawButton(Constants.OI.TRIGGER_PORT)) {
  41       if (this.getState() == State.STOPPED)
  42         this.setSpeed(0.5);
  43     } else {
  44       if (this.getState() == State.RUNNING) {
  45         this.stop();
  46       }
  47     }
  48
  49     if (Robot.oi.rightJoystick.getRawButton(Constants.OI.PRINT_PORT)) {
  50       System.out.println("Current Shooter Speed: " + getCurrentSpeed());
  51     }
  52   }
  53
  54   private void stop() {
  55     this.setSpeed(0.0);
  56   }
  57
  58   private State getState() {
  59     return state;
  60   }
  61
  62   // Use negative # for decrement. Positive for increment.
  63   public void changeSpeed(double change) {
  64     if (getCurrentSpeed() + change >= 1.0)
  65       shooter.set(1.0);
  66     else if (getCurrentSpeed() + change <= -1.0)
  67       shooter.set(-1.0);
  68     else {
  69       double newSpeed = getCurrentSpeed() + change;
  70       setSpeed(newSpeed);
  71     }
  72     this.state = State.RUNNING;
  73   }
  74
  75   @Override
  76   protected void initDefaultCommand() {
  77   }
  78 }