package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.Constants.Shooter.State;
+import org.usfirst.frc.team3501.robot.sensors.Photogate;
-import edu.wpi.first.wpilibj.CANTalon;
+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 {
- // TODO: check all files for control m characters
- private CANTalon shooter;
+ private DoubleSolenoid catapult1, catapult2;
+ private Photogate photogate;
+ private boolean usePhotoGate;
public Shooter() {
- shooter = new CANTalon(Constants.Shooter.PORT);
+ 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;
}
- public double getCurrentSetPoint() {
- return shooter.get();
- }
+ /***
+ * 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 void setSpeed(double speed) {
- if (speed > 1.0)
- shooter.set(1.0);
- else if (speed < -1.0)
- shooter.set(-1.0);
+ public boolean isBallInside() {
+ if (usePhotogate())
+ return photogate.isBallPresent();
else
- shooter.set(speed);
+ return true;
+ }
+
+ // Catapult Commands
+ public void fireCatapult() {
+ catapult1.set(Constants.Shooter.shoot);
+ catapult2.set(Constants.Shooter.shoot);
}
- public void stop() {
- this.setSpeed(0.0);
+ public void resetCatapult() {
+ catapult1.set(Constants.Shooter.reset);
+ catapult2.set(Constants.Shooter.reset);
}
- public State getState() {
- return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
+ public boolean usePhotogate() {
+ return this.usePhotoGate;
}
- // Use negative # for decrement. Positive for increment.
- public void changeSpeed(double change) {
- double newSpeed = getCurrentSetPoint() + change;
- if (newSpeed > 1.0)
- shooter.set(1.0);
- else if (newSpeed < -1.0)
- shooter.set(-1.0);
- else {
- setSpeed(newSpeed);
- }
+ public void togglePhotoGate() {
+ this.usePhotoGate = !this.usePhotoGate;
}
@Override