import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Lidar;
-import org.usfirst.frc.team3501.robot.MathLib;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
public class Shooter extends Subsystem {
private CANTalon shooter;
+ private CANTalon angleAdjuster;
private DoubleSolenoid hood, punch;
private Encoder encoder;
private Lidar lidar;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
- hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
- Constants.Shooter.HOOD_REVERSE);
+ angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
Constants.Shooter.PUNCH_REVERSE);
encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
-
- lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
}
/***
}
public void setSpeed(double speed) {
- speed = MathLib.constrain(speed, -1, 1);
- shooter.set(speed);
- }
-
- // This getDistance() will return the distance using the lidar from the
- // desired target during match.
- public double getDistance() {
- double distance = lidar.getDistance();
- return distance;
+ if (speed > 1.0)
+ shooter.set(1.0);
+ else if (speed < -1.0)
+ shooter.set(-1.0);
+ else
+ shooter.set(speed);
}
public void stop() {
}
// Punch Commands
- public void punch() {
+ public void extendPunch() {
punch.set(Constants.Shooter.punch);
}
punch.set(Constants.Shooter.retract);
}
- public boolean isHoodOpen() {
- return hood.get() == Constants.Shooter.open;
- }
-
- public void openHood() {
- hood.set(Constants.Shooter.open);
- }
-
- public void closeHood() {
- hood.set(Constants.Shooter.closed);
- }
-
@Override
protected void initDefaultCommand() {
}