Change shooter to function off of two pistons, remove punch, shooter motors, and...

[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 7b6ef174bd3cc046ade23a65c00695c7a99862cd..8649045aa2d8119e5ff9a173ed1030d7d96a74b7 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,13 +1,9 @@
 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;
 
 /***
@@ -15,109 +11,50 @@ import edu.wpi.first.wpilibj.command.Subsystem;
  * 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 DoubleSolenoid catapult1, catapult2;
   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;
+    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;
-
-  }
-
-  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);
+  // Catapult Commands
+  public void fireCatapult() {
+    catapult1.set(Constants.Shooter.shoot);
+    catapult2.set(Constants.Shooter.shoot);
   }
 
-  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 void resetCatapult() {
+    catapult1.set(Constants.Shooter.reset);
+    catapult2.set(Constants.Shooter.reset);
   }
 
   public boolean usePhotogate() {