X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=6e0c7acfb443a9106e46ed27d0c40e985732ebf4;hb=68e554b243aad0de65f60658ff21ec893119d526;hp=0d9187a441b6a734e4fc0e61ef3d848a7034d16f;hpb=c63ba9b9649deb7b4441f318a578c638cb26ebb9;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 0d9187a4..6e0c7acf 100755
--- 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 boolean usePhotoGate;
 
   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);
+    usePhotoGate = true;
   }
 
   /***
@@ -49,7 +51,12 @@ public class Shooter extends Subsystem {
    */
 
   public boolean isBallInside() {
-    return photogate.isBallPresent();
+
+    if (usePhotogate())
+      return photogate.isBallPresent();
+    else
+      return true;
+
   }
 
   public void setSpeed(double speed) {
@@ -113,6 +120,14 @@ public class Shooter extends Subsystem {
     return false;
   }
 
+  public boolean usePhotogate() {
+    return this.usePhotoGate;
+  }
+
+  public void togglePhotoGate() {
+    this.usePhotoGate = !this.usePhotoGate;
+  }
+
   @Override
   protected void initDefaultCommand() {
   }