Correct ports

[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 3e98e5d36230adab1667d8a4ebcb89c1fde80200..7b6ef174bd3cc046ade23a65c00695c7a99862cd 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,16 +1,134 @@
-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class Shooter extends Subsystem{\r
-       \r
-       public Shooter(){\r
-               \r
-       }\r
-\r
-       @Override\r
-       protected void initDefaultCommand() {\r
-               // TODO Auto-generated method stub\r
-               \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;
+  private boolean usePhotoGate;
+
+  public Shooter() {
+    shooter = new CANTalon(Constants.Shooter.PORT);
+    hood1 = new DoubleSolenoid(10, Constants.Shooter.RIGHT_HOOD_FORWARD,
+        Constants.Shooter.RIGHT_HOOD_REVERSE); // right
+    hood2 = new DoubleSolenoid(9, Constants.Shooter.LEFT_HOOD_FORWARD,
+        Constants.Shooter.LEFT_HOOD_REVERSE);// left
+    punch = new DoubleSolenoid(9, Constants.Shooter.PUNCH_FORWARD,
+        Constants.Shooter.PUNCH_REVERSE);
+
+    encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
+        Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
+    usePhotoGate = true;
+  }
+
+  /***
+   * 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() {
+
+    if (usePhotogate())
+      return photogate.isBallPresent();
+    else
+      return true;
+
+  }
+
+  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;
+  }
+
+  public boolean usePhotogate() {
+    return this.usePhotoGate;
+  }
+
+  public void togglePhotoGate() {
+    this.usePhotoGate = !this.usePhotoGate;
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
+}