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finish photogate insertion
[3501/stronghold-2016]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
commands
/
intakearm
/
Photogate.java
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/intakearm/Photogate.java
b/src/org/usfirst/frc/team3501/robot/commands/intakearm/Photogate.java
index 9e6c2e8b5f1c000c8dd4c6b19c3542d9dbe6cea0..aff5fc2d623a2b2a6ee5a2003f49c34d34e87df8 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/intakearm/Photogate.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/intakearm/Photogate.java
@@
-13,6
+13,7
@@
import edu.wpi.first.wpilibj.AnalogInput;
public class Photogate extends AnalogInput {
private double threshold = 1.8;
public class Photogate extends AnalogInput {
private double threshold = 1.8;
+ static boolean ballState;
/***
* The constructor inputs the channel of the transistor and the threshold
/***
* The constructor inputs the channel of the transistor and the threshold
@@
-26,6
+27,7
@@
public class Photogate extends AnalogInput {
public Photogate() {
super(0);
this.threshold = threshold;
public Photogate() {
super(0);
this.threshold = threshold;
+
}
/***
}
/***
@@
-33,11
+35,17
@@
public class Photogate extends AnalogInput {
* USE TO DECIDE WHEN OUTTAKE NEEDS TO HAPPEN FOR BALL TO BE SECURE
*/
public boolean isBallPresent() {
* USE TO DECIDE WHEN OUTTAKE NEEDS TO HAPPEN FOR BALL TO BE SECURE
*/
public boolean isBallPresent() {
- if (this.getVoltage() > threshold)
+ if (this.getVoltage() > threshold) {
+ ballState = true;
return true;
return true;
- else
- return false;
+ } else
+ ballState = false;
+ return false;
+
+ }
+ public static boolean ballState() {
+ return ballState;
}
/***
}
/***