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.command.Subsystem;
/***
- * The Shooter consists of a platform and wheel, each controlled by
- * separate motors. The motor controlling the platform pushes the ball onto the
- * wheel. The wheel is controlled by a motor, which runs once the ball is pushed
- * onto the wheel. The spinning wheel propels the ball.
+ * 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 CANTalon angleAdjuster;
- private DoubleSolenoid punch;
+ private DoubleSolenoid hood1, hood2, punch;
private Encoder encoder;
+ private Lidar lidar;
+ private Photogate photogate;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
- angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
- punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
- Constants.Shooter.PUNCH_REVERSE_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);
}
- public double getCurrentSetPoint() {
- return shooter.get();
- }
-
/***
* This method checks to see if the ball has successfully passed through the
* intake rollers and is inside.
*/
public boolean isBallInside() {
- return true;
+ return photogate.isBallPresent();
}
public void setSpeed(double speed) {
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 = getCurrentSetPoint() + change;
- if (newSpeed > 1.0)
- shooter.set(1.0);
- else if (newSpeed < -1.0)
- shooter.set(-1.0);
- else {
- setSpeed(newSpeed);
- }
+ double newSpeed = getSpeed() + change;
+ setSpeed(newSpeed);
}
// Punch Commands
- public void punch() {
+ public void extendPunch() {
punch.set(Constants.Shooter.punch);
}
- public void resetPunch() {
+ 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() {
}