-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import org.usfirst.frc.team3501.robot.Constants;\r
-\r
-import edu.wpi.first.wpilibj.CANTalon;\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class Shooter extends Subsystem {\r
- CANTalon wheel;\r
-\r
- public Shooter() {\r
- wheel = new CANTalon(Constants.Shooter.SHOOTER_WHEEL_PORT);\r
- }\r
-\r
- public double getCurrentSpeed() {\r
- return wheel.get();\r
- }\r
-\r
- public void setSpeed(double speed) {\r
- wheel.set(speed);\r
- }\r
-\r
- public void setIncrementSpeed(double increment) {\r
- double newSpeed = getCurrentSpeed() + increment;\r
-\r
- if (getCurrentSpeed() >= 1.0) {\r
- wheel.set(1.0);\r
- } else if (getCurrentSpeed() <= -1.0) {\r
- wheel.set(-1.0);\r
- }\r
-\r
- wheel.set(newSpeed);\r
- }\r
-\r
- // THIS DECREMENT METHOD TAKES ONLY POSITIVE VALUES SINCE IT ACCOUNTS FOR\r
- // SUBTRACTING THE CURRENT MOTOR SPEED!\r
- public void setDecrementSpeed(double decrement) {\r
- double newSpeed = getCurrentSpeed() - decrement;\r
-\r
- if (getCurrentSpeed() >= 1.0) {\r
- wheel.set(1.0);\r
- } else if (getCurrentSpeed() <= -1.0) {\r
- wheel.set(-1.0);\r
- }\r
-\r
- wheel.set(newSpeed);\r
- }\r
-\r
- @Override\r
- protected void initDefaultCommand() {\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.Photogate;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+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 DoubleSolenoid catapult1, catapult2;
+ private Photogate photogate;
+ private boolean usePhotoGate;
+
+ public Shooter() {
+ catapult1 = new DoubleSolenoid(Constants.Shooter.CATAPULT1_MODULE,
+ Constants.Shooter.CATAPULT1_FORWARD,
+ Constants.Shooter.CATAPULT1_REVERSE);
+ catapult2 = new DoubleSolenoid(Constants.Shooter.CATAPULT2_MODULE,
+ Constants.Shooter.CATAPULT2_FORWARD,
+ Constants.Shooter.CATAPULT2_REVERSE);
+ usePhotoGate = false;
+ }
+
+ /***
+ * 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;
+ }
+
+ // Catapult Commands
+ public void fireCatapult() {
+ catapult1.set(Constants.Shooter.shoot);
+ catapult2.set(Constants.Shooter.shoot);
+ }
+
+ public void resetCatapult() {
+ catapult1.set(Constants.Shooter.reset);
+ catapult2.set(Constants.Shooter.reset);
+ }
+
+ public boolean usePhotogate() {
+ return this.usePhotoGate;
+ }
+
+ public void togglePhotoGate() {
+ this.usePhotoGate = !this.usePhotoGate;
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+ }
+}