public class Shooter extends Subsystem {
private CANTalon shooter;
- private CANTalon angleAdjuster;
- private DoubleSolenoid hood, punch;
+ private DoubleSolenoid hood1, hood2, punch;
private Encoder encoder;
private Lidar lidar;
private Photogate photogate;
+ private boolean usePhotoGate;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
- angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
+ 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);
encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
+ usePhotoGate = true;
}
/***
*/
public boolean isBallInside() {
- return photogate.isBallPresent();
+
+ if (usePhotogate())
+ return photogate.isBallPresent();
+ else
+ return true;
+
}
public void setSpeed(double speed) {
punch.set(Constants.Shooter.retract);
}
+ public void raiseHood() {
+ hood1.set(Constants.Shooter.open);
+ hood2.set(Constants.Shooter.open);
+ }
+
+ public void lowerHood() {
+ 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;
+ }
+
+ public boolean usePhotogate() {
+ return this.usePhotoGate;
+ }
+
+ public void togglePhotoGate() {
+ this.usePhotoGate = !this.usePhotoGate;
+ }
+
@Override
protected void initDefaultCommand() {
}