org.usfirst.frc.team302.robot.subsystems

Class Shooter

java.lang.Object

edu.wpi.first.wpilibj.command.Subsystem

org.usfirst.frc.team302.robot.subsystems.Shooter

All Implemented Interfaces:

edu.wpi.first.wpilibj.NamedSendable, edu.wpi.first.wpilibj.Sendable

public class Shooter
extends edu.wpi.first.wpilibj.command.Subsystem

This class is for the shooter subsystem. The Shoooter consists of two Talon SRXs driving motors in the opposite direction at the same speed. The motors will spin inward to intake a boulder and outward to shoot a boulder. Change Log:

Version:

version 1: 1/16/2016 -- Derek Witcpalek -- original dummy class, version 2: 1/29/2016 -- Joe Witcpalek -- refactor package name, version 3: 1/29/2016 -- Eldon Maffey -- Add logic for shooting and stopping motors, version 4: 2/3/ 2016 -- Zach Zweber -- Add PID logic, version 5: 2/8/2016 -- Joe Witcpalek -- Merge in version 4, version 6: 2/13/2016 -- Klayton Smith -- Add sensor, version 7: 2/18/2016 -- Joe Witcpalek -- Merge (latest version from Zach/Adam didn't include version 6)

Author:

Derek Witcpalek

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	Shooter.states

Field Summary

Fields

Modifier and Type	Field and Description
private Shooter.states	m_currentState
(package private) PIDController	m_pid
(package private) edu.wpi.first.wpilibj.CANTalon	m_talon1
(package private) edu.wpi.first.wpilibj.CANTalon	m_talon2
(package private) double	m_velocity

Constructor Summary

Constructors

Constructor and Description
Shooter() Shooter -- construct the wheels and the sensor used for shooting/intaking boulders

Method Summary

Modifier and Type	Method and Description
Shooter.states	getCurrentState() Returns the current state of the shooter
void	initDefaultCommand() Set the default command for the subsystem.
void	intakeBoulder() intakeBoulder -- sets the state to INTAKE and runs the motors inward to intake a boulder
private double	makeInRange(double a, double b, double c) makeInRange -- ???
void	shootBoulder() shootBoulder - sets the state to SHOOT and runs the motors outward at a consistent speed to shoot a boulder (hopefully) straight.
void	stopMotors() stopMotors -- sets the state to STOP and stops the motors.

Methods inherited from class edu.wpi.first.wpilibj.command.Subsystem

getCurrentCommand, getDefaultCommand, getName, getSmartDashboardType, getTable, initTable, setDefaultCommand, toString

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

m_talon1

edu.wpi.first.wpilibj.CANTalon m_talon1

m_talon2

edu.wpi.first.wpilibj.CANTalon m_talon2

m_pid

PIDController m_pid

m_velocity

double m_velocity

m_currentState

private Shooter.states m_currentState

Constructor Detail

Shooter

public Shooter()

Shooter -- construct the wheels and the sensor used for shooting/intaking boulders

Method Detail

initDefaultCommand

public void initDefaultCommand()

Set the default command for the subsystem. In this case stop the shooter motors.

Specified by:

initDefaultCommand in class edu.wpi.first.wpilibj.command.Subsystem

shootBoulder

public void shootBoulder()

shootBoulder - sets the state to SHOOT and runs the motors outward at a consistent speed to shoot a boulder (hopefully) straight.

intakeBoulder

public void intakeBoulder()

intakeBoulder -- sets the state to INTAKE and runs the motors inward to intake a boulder

stopMotors

public void stopMotors()

stopMotors -- sets the state to STOP and stops the motors.

getCurrentState

public Shooter.states getCurrentState()

Returns the current state of the shooter

Returns:

the state of the shooter (INTAKE, SHOOT or STOP)

makeInRange

private double makeInRange(double a,
                           double b,
                           double c)

makeInRange -- ???

Parameters:

a - ??

b - ??

c - ??

Returns:

??