- punch = new DoubleSolenoid(Constants.Shooter.FORWARD_PORT,
- Constants.Shooter.REVERSE_PORT);
+ hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+ Constants.Shooter.HOOD_REVERSE);
+ angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
+ punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
+ Constants.Shooter.PUNCH_REVERSE);
+
+ encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
+ Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
+
+ lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);