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 f01d8c2743c1ef50c89f09da92cadf1ddb39989d..0d9187a441b6a734e4fc0e61ef3d848a7034d16f 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,14 +1,13 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.Lidar;
-import org.usfirst.frc.team3501.robot.MathLib;
+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.I2C;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /***
@@ -23,21 +22,22 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
   private CANTalon shooter;
-  private DoubleSolenoid hood, punch;
+  private DoubleSolenoid hood1, hood2, punch;
   private Encoder encoder;
   private Lidar lidar;
+  private Photogate photogate;
 
   public Shooter() {
     shooter = new CANTalon(Constants.Shooter.PORT);
-    hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+    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);
-
-    lidar = new Lidar(I2C.Port.kMXP);
   }
 
   /***
@@ -49,12 +49,16 @@ public class Shooter extends Subsystem {
    */
 
   public boolean isBallInside() {
-    return true;
+    return photogate.isBallPresent();
   }
 
   public void setSpeed(double speed) {
-    speed = MathLib.constrain(speed, -1, 1);
-    shooter.set(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() {
@@ -65,6 +69,17 @@ public class Shooter extends Subsystem {
     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) {
@@ -73,7 +88,7 @@ public class Shooter extends Subsystem {
   }
 
   // Punch Commands
-  public void punch() {
+  public void extendPunch() {
     punch.set(Constants.Shooter.punch);
   }
 
@@ -81,16 +96,21 @@ public class Shooter extends Subsystem {
     punch.set(Constants.Shooter.retract);
   }
 
-  public boolean isHoodOpen() {
-    return hood.get() == Constants.Shooter.open;
+  public void raiseHood() {
+    hood1.set(Constants.Shooter.open);
+    hood2.set(Constants.Shooter.open);
   }
 
-  public void openHood() {
-    hood.set(Constants.Shooter.open);
+  public void lowerHood() {
+    hood1.set(Constants.Shooter.closed);
+    hood2.set(Constants.Shooter.closed);
   }
 
-  public void closeHood() {
-    hood.set(Constants.Shooter.closed);
+  public boolean isHoodDown() {
+    if (hood1.get() == Constants.Shooter.open
+        && hood2.get() == Constants.Shooter.open)
+      return true;
+    return false;
   }
 
   @Override