public static final int HOOD_FORWARD = 2;
public static final int HOOD_REVERSE = 3;
- public static final Value open = Value.kForward;
- public static final Value closed = Value.kReverse;
+ public static final Value open = Value.kReverse;
+ public static final Value closed = Value.kForward;
public static final Port LIDAR_I2C_PORT = I2C.Port.kMXP;
package org.usfirst.frc.team3501.robot;
import org.usfirst.frc.team3501.robot.Constants.Defense;
-import org.usfirst.frc.team3501.robot.sensors.GyroLib;
import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
import org.usfirst.frc.team3501.robot.subsystems.Scaler;
import org.usfirst.frc.team3501.robot.subsystems.Shooter;
-import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
positionFourDefense, positionFiveDefense;
- // Gyro stuff
- public GyroLib gyro;
-
@Override
public void robotInit() {
driveTrain = new DriveTrain();
oi = new OI();
- gyro = new GyroLib(I2C.Port.kOnboard, false);
shooter = new Shooter();
scaler = new Scaler();
@Override
public void teleopInit() {
-
- gyro.start();
-
}
@Override
public void teleopPeriodic() {
Scheduler.getInstance().run();
-
- System.out.println("Degrees: " + gyro.getRotationZ().getAngle());
-
}
}
public class Shooter extends Subsystem {
private CANTalon shooter;
- private CANTalon angleAdjuster;
- private DoubleSolenoid hood, punch;
+ private DoubleSolenoid hood1, hood2, punch;
private Encoder encoder;
private Lidar lidar;
private Photogate photogate;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
- angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
+ hood1 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+ Constants.Shooter.HOOD_REVERSE);
+ hood2 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+ Constants.Shooter.HOOD_REVERSE);
punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
Constants.Shooter.PUNCH_REVERSE);
punch.set(Constants.Shooter.retract);
}
+ public void raiseHood() {
+ hood1.set(Constants.Shooter.open);
+ hood2.set(Constants.Shooter.open);
+ }
+
+ public void lowerHood() {
+ hood1.set(Constants.Shooter.closed);
+ hood2.set(Constants.Shooter.closed);
+ }
+
+ public boolean isHoodDown() {
+ if (hood1.get() == Constants.Shooter.open
+ && hood2.get() == Constants.Shooter.open)
+ return true;
+ return false;
+ }
+
@Override
protected void initDefaultCommand() {
}