Instantiate lidar objcet in Shooter class

[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 614fe059a9a31851d904a71f2c07c495ad2633ce..f01d8c2743c1ef50c89f09da92cadf1ddb39989d 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,53 +1,99 @@
-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import org.usfirst.frc.team3501.robot.Constants;\r
-\r
-import edu.wpi.first.wpilibj.CANTalon;\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class Shooter extends Subsystem {\r
-  CANTalon wheel;\r
-\r
-  public Shooter() {\r
-    wheel = new CANTalon(Constants.Shooter.SHOOTER_WHEEL_PORT);\r
-  }\r
-\r
-  public double getCurrentSpeed() {\r
-    return wheel.get();\r
-  }\r
-\r
-  public void setSpeed(double speed) {\r
-    wheel.set(speed);\r
-  }\r
-\r
-  public void setIncrementSpeed(double increment) {\r
-    double newSpeed = getCurrentSpeed() + increment;\r
-\r
-    if (getCurrentSpeed() >= 1.0) {\r
-      wheel.set(1.0);\r
-    } else if (getCurrentSpeed() <= -1.0) {\r
-      wheel.set(-1.0);\r
-    }\r
-\r
-    wheel.set(newSpeed);\r
-  }\r
-\r
-  // THIS DECREMENT METHOD TAKES ONLY POSITIVE VALUES SINCE IT ACCOUNTS FOR\r
-  // SUBTRACTING THE CURRENT MOTOR SPEED!\r
-  public void setDecrementSpeed(double decrement) {\r
-    double newSpeed = getCurrentSpeed() - decrement;\r
-\r
-    if (getCurrentSpeed() >= 1.0) {\r
-      wheel.set(1.0);\r
-    } else if (getCurrentSpeed() <= -1.0) {\r
-      wheel.set(-1.0);\r
-    }\r
-\r
-    wheel.set(newSpeed);\r
-  }\r
-\r
-  @Override\r
-  protected void initDefaultCommand() {\r
-\r
-  }\r
-}\r
+package org.usfirst.frc.team3501.robot.subsystems;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Lidar;
+import org.usfirst.frc.team3501.robot.MathLib;
+
+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.I2C;
+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 DoubleSolenoid hood, punch;
+  private Encoder encoder;
+  private Lidar lidar;
+
+  public Shooter() {
+    shooter = new CANTalon(Constants.Shooter.PORT);
+    hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+        Constants.Shooter.HOOD_REVERSE);
+    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);
+
+    lidar = new Lidar(I2C.Port.kMXP);
+  }
+
+  /***
+   * 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);
+  }
+
+  public void stop() {
+    this.setSpeed(0.0);
+  }
+
+  public double getSpeed() {
+    return encoder.getRate();
+  }
+
+  // Use negative # for decrement. Positive for increment.
+
+  public void changeSpeed(double change) {
+    double newSpeed = getSpeed() + change;
+    setSpeed(newSpeed);
+  }
+
+  // Punch Commands
+  public void punch() {
+    punch.set(Constants.Shooter.punch);
+  }
+
+  public void retractPunch() {
+    punch.set(Constants.Shooter.retract);
+  }
+
+  public boolean isHoodOpen() {
+    return hood.get() == Constants.Shooter.open;
+  }
+
+  public void openHood() {
+    hood.set(Constants.Shooter.open);
+  }
+
+  public void closeHood() {
+    hood.set(Constants.Shooter.closed);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
+}