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;
import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.I2C;
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.
+ * 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 hood, punch;
private Encoder encoder;
private Lidar lidar;
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(I2C.Port.kMXP);
+ lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
}
/***
}
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() {
}
// Punch Commands
- public void punch() {
+ public void extendPunch() {
punch.set(Constants.Shooter.punch);
}