mirror of
https://github.com/wpilibsuite/allwpilib
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118 lines
2.5 KiB
C
118 lines
2.5 KiB
C
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#ifndef Shooter_H
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#define Shooter_H
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#include "Commands/Subsystem.h"
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#include "WPILib.h"
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/**
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* The Shooter subsystem handles shooting. The mechanism for shooting is
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* slightly complicated because it has to pneumatic cylinders for shooting, and
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* a third latch to allow the pressure to partially build up and reduce the
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* effect of the airflow. For shorter shots, when full power isn't needed, only
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* one cylinder fires.
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*
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* NOTE: Simulation currently approximates this as as single pneumatic cylinder
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* and ignores the latch.
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*/
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class Shooter: public Subsystem
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{
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private:
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// Devices
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DoubleSolenoid* piston1;
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DoubleSolenoid* piston2;
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Solenoid* latchPiston;
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DigitalInput* piston1ReedSwitchFront;
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DigitalInput* piston1ReedSwitchBack;
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DigitalInput* hotGoalSensor; // NOTE: Currently ignored in simulation
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public:
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Shooter();
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void InitDefaultCommand();
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/**
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* Extend both solenoids to shoot.
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*/
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void ExtendBoth();
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/**
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* Retract both solenoids to prepare to shoot.
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*/
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void RetractBoth();
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/**
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* Extend solenoid 1 to shoot.
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*/
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void Extend1();
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/**
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* Retract solenoid 1 to prepare to shoot.
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*/
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void Retract1();
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/**
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* Extend solenoid 2 to shoot.
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*/
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void Extend2();
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/**
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* Retract solenoid 2 to prepare to shoot.
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*/
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void Retract2();
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/**
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* Turns off the piston1 double solenoid. This won't actuate anything
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* because double solenoids preserve their state when turned off. This
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* should be called in order to reduce the amount of time that the coils are
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* powered.
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*/
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void Off1();
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/**
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* Turns off the piston1 double solenoid. This won't actuate anything
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* because double solenoids preserve their state when turned off. This
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* should be called in order to reduce the amount of time that the coils are
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* powered.
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*/
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void Off2();
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/**
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* Release the latch so that we can shoot
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*/
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void Unlatch();
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/**
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* Latch so that pressure can build up and we aren't limited by air flow.
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*/
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void Latch();
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/**
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* Toggles the latch postions
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*/
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void ToggleLatchPosition();
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/**
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* @return Whether or not piston 1 is fully extended.
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*/
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bool Piston1IsExtended();
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/**
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* @return Whether or not piston 1 is fully retracted.
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*/
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bool Piston1IsRetracted();
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/**
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* Turns off all double solenoids. Double solenoids hold their position when
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* they are turned off. We should turn them off whenever possible to extend
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* the life of the coils
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*/
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void OffBoth();
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/**
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* @return Whether or not the goal is hot as read by the banner sensor
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*/
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bool GoalIsHot();
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};
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#endif
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