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 675b4b8cbf52353aa2a70418ee73c5b3ae3f150e..f01d8c2743c1ef50c89f09da92cadf1ddb39989d 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,50 +1,96 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.Constants.Shooter.State;
+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 {
-  // TODO: check all files for control m characters
   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);
   }
 
-  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 boolean isBallInside() {
+    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);
+    speed = MathLib.constrain(speed, -1, 1);
+    shooter.set(speed);
   }
 
   public void stop() {
     this.setSpeed(0.0);
   }
 
-  public State getState() {
-    return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
+  public double getSpeed() {
+    return encoder.getRate();
   }
 
   // Use negative # for decrement. Positive for increment.
+
   public void changeSpeed(double change) {
-    if (getCurrentSetPoint() + change >= 1.0)
-      shooter.set(1.0);
-    else if (getCurrentSetPoint() + change <= -1.0)
-      shooter.set(-1.0);
-    else {
-      double newSpeed = getCurrentSetPoint() + change;
-      setSpeed(newSpeed);
-    }
+    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