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 edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.DoubleSolenoid;
private Lidar lidar;
public Shooter() {
+ leftLidar = new AnalogPotentiometer(0);
+ rightLidar = new AnalogPotentiometer(0);
shooter = new CANTalon(Constants.Shooter.PORT);
hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
Constants.Shooter.HOOD_REVERSE);
}
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. This distance is returned in units of
- // CENTIMETERS.
- public double getDistance() {
- return lidar.getDistance();
+ 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;
+ @Override
+ protected void initDefaultCommand() {
}
public void openHood() {