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 public class Shooter extends Subsystem {
  12   private CANTalon shooter;
  13   private CANTalon angleAdjuster;
  14   private DoubleSolenoid punch;
  15   private Encoder encoder;
  16
  17   public Shooter() {
  18     shooter = new CANTalon(Constants.Shooter.PORT);
  19     angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
  20     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
  21         Constants.Shooter.PUNCH_REVERSE_PORT);
  22
  23     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
  24         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
  25   }
  26
  27   public double getCurrentSetPoint() {
  28     return shooter.get();
  29   }
  30
  31   /***
  32    * This method checks to see if the ball has successfully passed through the
  33    * intake rollers and is inside.
  34    *
  35    * @return whether the presence of the ball is true or false and returns the
  36    *         state of the condition (true or false).
  37    */
  38
  39   public boolean isBallInside() {
  40     return true;
  41   }
  42
  43   public void setSpeed(double speed) {
  44     if (speed > 1.0)
  45       shooter.set(1.0);
  46     else if (speed < -1.0)
  47       shooter.set(-1.0);
  48     else
  49       shooter.set(speed);
  50   }
  51
  52   public void stop() {
  53     this.setSpeed(0.0);
  54   }
  55
  56   public double getSpeed() {
  57     return encoder.getRate();
  58   }
  59
  60   // Use negative # for decrement. Positive for increment.
  61   public void changeSpeed(double change) {
  62     double newSpeed = getCurrentSetPoint() + change;
  63     if (newSpeed > 1.0)
  64       shooter.set(1.0);
  65     else if (newSpeed < -1.0)
  66       shooter.set(-1.0);
  67     else {
  68       setSpeed(newSpeed);
  69     }
  70   }
  71
  72   // Punch Commands
  73   public void punch() {
  74     punch.set(Constants.Shooter.punch);
  75   }
  76
  77   public void resetPunch() {
  78     punch.set(Constants.Shooter.retract);
  79   }
  80
  81   @Override
  82   protected void initDefaultCommand() {
  83   }
  84 }