Add piston getters in Shooter

[3501/2017steamworks] / 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 91da0989fd53f2cabead98f63f70ed67dadc6114..cce6a7d62d01d8cb18ba35a6c7316671f5600a80 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -6,6 +6,8 @@ import org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
 
 import com.ctre.CANTalon;
 
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
@@ -15,7 +17,7 @@ public class Shooter extends Subsystem {
   private final CANTalon flyWheel1, flyWheel2, indexWheel;
 
   private static final double DEFAULT_INDEXING_SPEED = -0.75;
-  private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
+  private static final double DEFAULT_SHOOTING_SPEED = 2800; // rpm
   private static final double SHOOTING_SPEED_INCREMENT = 25;
 
   private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
@@ -114,4 +116,20 @@ public class Shooter extends Subsystem {
   public void runIndexWheel() {
     this.setIndexWheelMotorVal(DEFAULT_INDEXING_SPEED);
   }
+
+  public Value getPistonValue() {
+    return piston.get();
+  }
+
+  public void setHighGear() {
+    changeGear(Constants.Shooter.HIGH_GEAR);
+  }
+
+  public void setLowGear() {
+    changeGear(Constants.Shooter.LOW_GEAR);
+  }
+
+  private void changeGear(DoubleSolenoid.Value gear) {
+    piston.set(gear);
+  }
 }