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Fix merge conflicts
[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 91793d8aebd2546c6733f1cd05f98302d72a6ae5..6e0c7acfb443a9106e46ed27d0c40e985732ebf4 100755
(executable)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@
-26,6
+26,7
@@
public class Shooter extends Subsystem {
private Encoder encoder;
private Lidar lidar;
private Photogate photogate;
private Encoder encoder;
private Lidar lidar;
private Photogate photogate;
+ private boolean usePhotoGate;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
@@
-38,6
+39,7
@@
public class Shooter extends Subsystem {
encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
+ usePhotoGate = true;
}
/***
}
/***
@@
-49,10
+51,12
@@
public class Shooter extends Subsystem {
*/
public boolean isBallInside() {
*/
public boolean isBallInside() {
+
if (usePhotogate())
return photogate.isBallPresent();
else
if (usePhotogate())
return photogate.isBallPresent();
else
- return false;
+ return true;
+
}
public void setSpeed(double speed) {
}
public void setSpeed(double speed) {
@@
-117,7
+121,11
@@
public class Shooter extends Subsystem {
}
public boolean usePhotogate() {
}
public boolean usePhotogate() {
- return true;
+ return this.usePhotoGate;
+ }
+
+ public void togglePhotoGate() {
+ this.usePhotoGate = !this.usePhotoGate;
}
@Override
}
@Override