Put all sensors in sensor package and update the import paths

[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 26763d0ed497c848e1565834993c1dfe7301e691..bcce7bcdc2df74ff7de1491ff96cb5dc12d97b51 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.sensors.Lidar;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
@@ -9,11 +10,10 @@ 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
  *
@@ -22,14 +22,15 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 public class Shooter extends Subsystem {
   private CANTalon shooter;
   private CANTalon angleAdjuster;
-  private DoubleSolenoid punch;
+  private DoubleSolenoid hood, punch;
   private Encoder encoder;
+  private Lidar lidar;
 
   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);
+    punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
+        Constants.Shooter.PUNCH_REVERSE);
 
     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
@@ -64,10 +65,21 @@ public class Shooter extends Subsystem {
     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 = getCurrentSetPoint() + change;
+    double newSpeed = getSpeed() + change;
     setSpeed(newSpeed);
   }