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     angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
  17     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
  18         Constants.Shooter.PUNCH_REVERSE_PORT);
  19   }
  20
  21   public double getCurrentSetPoint() {
  22     return shooter.get();
  23   }
  24
  25   public void setSpeed(double speed) {
  26     if (speed > 1.0)
  27       shooter.set(1.0);
  28     else if (speed < -1.0)
  29       shooter.set(-1.0);
  30     else
  31       shooter.set(speed);
  32   }
  33
  34   public void stop() {
  35     this.setSpeed(0.0);
  36   }
  37
  38   // Use negative # for decrement. Positive for increment.
  39   public void changeSpeed(double change) {
  40     double newSpeed = getCurrentSetPoint() + change;
  41     if (newSpeed > 1.0)
  42       shooter.set(1.0);
  43     else if (newSpeed < -1.0)
  44       shooter.set(-1.0);
  45     else {
  46       setSpeed(newSpeed);
  47     }
  48   }
  49
  50   // Punch Commands
  51   public void punch() {
  52     punch.set(Constants.Shooter.punch);
  53   }
  54
  55   public void resetPunch() {
  56     punch.set(Constants.Shooter.retract);
  57   }
  58
  59   @Override
  60   protected void initDefaultCommand() {
  61   }
  62 }