X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fcommands%2Fshooter%2FShoot.java;h=90105e0c9368663df2ba0a69d131e5c36481cc03;hb=2485099662fecd9ccb9f6ac455b2f37fefc0ed97;hp=e136c739ae78e74b1da7503258ffa29828fae850;hpb=071ab31546b9c3cf13bca472a4ac76b1480aeb6a;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java b/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
index e136c739..90105e0c 100755
--- a/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/Shoot.java
@@ -1,5 +1,5 @@
 package org.usfirst.frc.team3501.robot.commands.shooter;
-
+import org.usfirst.frc.team3501.robot.Robot;
 import org.usfirst.frc.team3501.robot.commands.auton.AimAndAlign;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -7,11 +7,24 @@ import edu.wpi.first.wpilibj.command.WaitCommand;
 
 public class Shoot extends CommandGroup {
 
+  public boolean usePhotogate;
+
   public Shoot() {
     addSequential(new AimAndAlign());
     addSequential(new WaitCommand(3.0));
     addSequential(new runShooter());
     addSequential(new WaitCommand(3.0));
-    addSequential(new Punch());
+    if (Robot.shooter.usePhotogate()) {
+      if (Robot.shooter.isBallInside()) {
+        addSequential(new ExtendPunch());
+        addSequential(new WaitCommand(5.0));
+        addSequential(new RetractPunch());
+      }
+    } else {
+      addSequential(new ExtendPunch());
+      addSequential(new WaitCommand(5.0));
+      addSequential(new RetractPunch());
+    }
+
   }
 }