Initialize photogate in shooter subsystem

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / Shooter.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 1d7fdb3cdfd62d678ab981125f2e5e638491d6b0..0d9187a441b6a734e4fc0e61ef3d848a7034d16f 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,78 +1,119 @@
-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import org.usfirst.frc.team3501.robot.Constants;\r
-import org.usfirst.frc.team3501.robot.Constants.Shooter.State;\r
-import org.usfirst.frc.team3501.robot.Robot;\r
-\r
-import edu.wpi.first.wpilibj.CANTalon;\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class Shooter extends Subsystem {\r
-  private CANTalon shooter;\r
-  private State state;\r
-\r
-  public Shooter() {\r
-    shooter = new CANTalon(Constants.Shooter.PORT);\r
-    state = State.STOPPED;\r
-  }\r
-\r
-  public double getCurrentSpeed() {\r
-    return shooter.get();\r
-  }\r
-\r
-  public void setSpeed(double speed) {\r
-    state = State.RUNNING;\r
-    shooter.set(speed);\r
-  }\r
-\r
-  public void shooterButtonsPressed() {\r
-\r
-    if (Robot.oi.rightJoystick\r
-        .getRawButton(Constants.OI.INCREMENT_SHOOTER_PORT)) {\r
-      changeSpeed(0.1);\r
-    }\r
-\r
-    if (Robot.oi.rightJoystick\r
-        .getRawButton(Constants.OI.DECREMENT_SHOOTER_PORT)) {\r
-      changeSpeed(-0.1);\r
-    }\r
-\r
-    if (Robot.oi.rightJoystick.getRawButton(Constants.OI.TRIGGER_PORT)) {\r
-      if (this.getState() == State.STOPPED)\r
-        this.setSpeed(0.5);\r
-    } else {\r
-      if (this.getState() == State.RUNNING) {\r
-        this.stop();\r
-      }\r
-    }\r
-\r
-    if (Robot.oi.rightJoystick.getRawButton(Constants.OI.PRINT_PORT)) {\r
-      System.out.println("Current Shooter Speed: " + getCurrentSpeed());\r
-    }\r
-  }\r
-\r
-  private void stop() {\r
-    this.setSpeed(0.0);\r
-  }\r
-\r
-  private State getState() {\r
-    return state;\r
-  }\r
-\r
-  // Use negative # for decrement. Positive for increment.\r
-  public void changeSpeed(double change) {\r
-    if (getCurrentSpeed() + change >= 1.0)\r
-      shooter.set(1.0);\r
-    else if (getCurrentSpeed() + change <= -1.0)\r
-      shooter.set(-1.0);\r
-    else {\r
-      double newSpeed = getCurrentSpeed() + change;\r
-      setSpeed(newSpeed);\r
-    }\r
-    this.state = State.RUNNING;\r
-  }\r
-\r
-  @Override\r
-  protected void initDefaultCommand() {\r
-  }\r
-}\r
+package org.usfirst.frc.team3501.robot.subsystems;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.sensors.Lidar;
+import org.usfirst.frc.team3501.robot.sensors.Photogate;
+
+import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.CounterBase.EncodingType;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/***
+ * The Shooter consists of a platform and wheel, each controlled by separate
+ * motors. The piston controlling the platform pushes the ball onto the wheel.
+ * The wheel is controlled by a motor, which is running before the ball is
+ * pushed onto the wheel. The spinning wheel propels the ball.
+ *
+ * @author superuser
+ *
+ */
+
+public class Shooter extends Subsystem {
+  private CANTalon shooter;
+  private DoubleSolenoid hood1, hood2, punch;
+  private Encoder encoder;
+  private Lidar lidar;
+  private Photogate photogate;
+
+  public Shooter() {
+    shooter = new CANTalon(Constants.Shooter.PORT);
+    hood1 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+        Constants.Shooter.HOOD_REVERSE);
+    hood2 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+        Constants.Shooter.HOOD_REVERSE);
+    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);
+  }
+
+  /***
+   * This method checks to see if the ball has successfully passed through the
+   * intake rollers and is inside.
+   *
+   * @return whether the presence of the ball is true or false and returns the
+   *         state of the condition (true or false).
+   */
+
+  public boolean isBallInside() {
+    return photogate.isBallPresent();
+  }
+
+  public void setSpeed(double speed) {
+    if (speed > 1.0)
+      shooter.set(1.0);
+    else if (speed < -1.0)
+      shooter.set(-1.0);
+    else
+      shooter.set(speed);
+  }
+
+  public void stop() {
+    this.setSpeed(0.0);
+  }
+
+  public double getSpeed() {
+    return encoder.getRate();
+  }
+
+  /*
+   * We are going to map a lidar distance to a shooter speed that will be set to
+   * the shooter. This function does not yet exist so we will just use y=x but
+   * when testing commences we shall create the function
+   */
+  public double getShooterSpeed() {
+    double distanceToGoal = lidar.getDistance();
+    double shooterSpeed = distanceToGoal; // Function to be determined
+    return shooterSpeed;
+  }
+
+  // Use negative # for decrement. Positive for increment.
+
+  public void changeSpeed(double change) {
+    double newSpeed = getSpeed() + change;
+    setSpeed(newSpeed);
+  }
+
+  // Punch Commands
+  public void extendPunch() {
+    punch.set(Constants.Shooter.punch);
+  }
+
+  public void retractPunch() {
+    punch.set(Constants.Shooter.retract);
+  }
+
+  public void raiseHood() {
+    hood1.set(Constants.Shooter.open);
+    hood2.set(Constants.Shooter.open);
+  }
+
+  public void lowerHood() {
+    hood1.set(Constants.Shooter.closed);
+    hood2.set(Constants.Shooter.closed);
+  }
+
+  public boolean isHoodDown() {
+    if (hood1.get() == Constants.Shooter.open
+        && hood2.get() == Constants.Shooter.open)
+      return true;
+    return false;
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
+}