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add second piston that controls hood to isHoodDown method
[3501/stronghold-2016]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
subsystems
/
Shooter.java
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index f547ab0ee84fa2ae9399eb75898534218615ba07..3633c04ca10e2fea9e5c63a656427a86642eaea1 100755
(executable)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@
-21,13
+21,15
@@
import edu.wpi.first.wpilibj.command.Subsystem;
public class Shooter extends Subsystem {
private CANTalon shooter;
public class Shooter extends Subsystem {
private CANTalon shooter;
- private DoubleSolenoid hood, punch;
+ private DoubleSolenoid hood
1, hood2
, punch;
private Encoder encoder;
private Lidar lidar;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
private Encoder encoder;
private Lidar lidar;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
- hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+ 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);
Constants.Shooter.HOOD_REVERSE);
punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
Constants.Shooter.PUNCH_REVERSE);
@@
-93,11
+95,20
@@
public class Shooter extends Subsystem {
}
public void raiseHood() {
}
public void raiseHood() {
- hood.set(Constants.Shooter.open);
+ hood1.set(Constants.Shooter.open);
+ hood2.set(Constants.Shooter.open);
}
public void lowerHood() {
}
public void lowerHood() {
- hood.set(Constants.Shooter.closed);
+ 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
}
@Override