Add the piston solenoid object to shooter and add punch methods/constants

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index deb1285970c600e799bab38c47e17c61dc8d3d40..43dd6201843966fd0254dc8b7c21fce7be3d215d 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -1,5 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+
 /**
  * The Constants stores constant values for all subsystems. This includes the
  * port values for motors and sensors, as well as important operational
@@ -44,6 +46,10 @@ public class Constants {
 
   public static class Shooter {
     public static final int PORT = 0;
+    public static final int FORWARD_PORT = 0;
+    public static final int REVERSE_PORT = 1;
+    public static final DoubleSolenoid.Value punch = DoubleSolenoid.Value.kForward;
+    public static final DoubleSolenoid.Value retract = DoubleSolenoid.Value.kReverse;
 
     public static enum State {
       RUNNING, STOPPED;

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 07948f2f144579922ccf35da7fdc11507fe16630..bda816f402fa2bae9c0ec35d09601275a9cbc7a9 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,16 +1,19 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.Constants.Shooter.State;
 
 import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
   private CANTalon shooter;
+  private DoubleSolenoid punch;
 
   public Shooter() {
     shooter = new CANTalon(Constants.Shooter.PORT);
+    punch = new DoubleSolenoid(Constants.Shooter.FORWARD_PORT,
+        Constants.Shooter.REVERSE_PORT);
   }
 
   public double getCurrentSetPoint() {
@@ -30,10 +33,6 @@ public class Shooter extends Subsystem {
     this.setSpeed(0.0);
   }
 
-  public State getState() {
-    return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
-  }
-
   // Use negative # for decrement. Positive for increment.
   public void changeSpeed(double change) {
     double newSpeed = getCurrentSetPoint() + change;
@@ -46,6 +45,15 @@ public class Shooter extends Subsystem {
     }
   }
 
+  // Punch Commands
+  public void punch() {
+    punch.set(Constants.Shooter.punch);
+  }
+
+  public void resetPunch() {
+    punch.set(Constants.Shooter.retract);
+  }
+
   @Override
   protected void initDefaultCommand() {
   }