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 ec3731752bad3f43df0175fb9106d76b2821de0b..8649045aa2d8119e5ff9a173ed1030d7d96a74b7 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,69 +1,68 @@
 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.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 CANTalon angleAdjuster;
-  private DoubleSolenoid punch;
-  private Encoder encoder;
+  private DoubleSolenoid catapult1, catapult2;
+  private Photogate photogate;
+  private boolean usePhotoGate;
 
   public Shooter() {
-    shooter = new CANTalon(Constants.Shooter.PORT);
-    angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
-    punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
-        Constants.Shooter.PUNCH_REVERSE_PORT);
-
-    encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
-        Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
+    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);
-  }
-
-  public void stop() {
-    this.setSpeed(0.0);
+      return true;
   }
 
-  public double getSpeed() {
-    return encoder.getRate();
+  // Catapult Commands
+  public void fireCatapult() {
+    catapult1.set(Constants.Shooter.shoot);
+    catapult2.set(Constants.Shooter.shoot);
   }
 
-  // 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 resetCatapult() {
+    catapult1.set(Constants.Shooter.reset);
+    catapult2.set(Constants.Shooter.reset);
   }
 
-  // Punch Commands
-  public void punch() {
-    punch.set(Constants.Shooter.punch);
+  public boolean usePhotogate() {
+    return this.usePhotoGate;
   }
 
-  public void resetPunch() {
-    punch.set(Constants.Shooter.retract);
+  public void togglePhotoGate() {
+    this.usePhotoGate = !this.usePhotoGate;
   }
 
   @Override