import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.sensors.Lidar;
+import org.usfirst.frc.team3501.robot.sensors.Photogate;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
public class Shooter extends Subsystem {
private CANTalon shooter;
- private DoubleSolenoid hood, punch;
+ private DoubleSolenoid hood1, hood2, punch;
private Encoder encoder;
private Lidar lidar;
+ private Photogate photogate;
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);
*/
public boolean isBallInside() {
- return true;
+ if (usePhotogate())
+ return photogate.isBallPresent();
+ else
+ return false;
}
public void setSpeed(double speed) {
}
public void raiseHood() {
- hood.set(Constants.Shooter.open);
+ hood1.set(Constants.Shooter.open);
+ hood2.set(Constants.Shooter.open);
}
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;
+ }
+
+ public boolean usePhotogate() {
+ return true;
}
@Override