package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.MathLib;
+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.
- *
+ * 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;
}
/***
* 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() {
- return true;
- }
-
- public void setSpeed(double speed) {
- speed = MathLib.constrain(speed, -1, 1);
- shooter.set(speed);
+ if (usePhotogate())
+ return photogate.isBallPresent();
+ else
+ return true;
}
- 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();
- }
-
- // Use negative # for decrement. Positive for increment.
-
- public void changeSpeed(double change) {
- double newSpeed = getSpeed() + change;
- 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 retractPunch() {
- punch.set(Constants.Shooter.retract);
+ public void togglePhotoGate() {
+ this.usePhotoGate = !this.usePhotoGate;
}
@Override