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=e54ca7269297423eaa89db06463b8c4118298b21;hpb=cc72c5b29b7239f0eae0c52f395de8da31ed5109;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 e54ca726..6e0c7acf 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -2,11 +2,11 @@ package org.usfirst.frc.team3501.robot.subsystems;
 
 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;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
@@ -22,19 +22,24 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 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;
+  private boolean usePhotoGate;
 
   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);
 
     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
+    usePhotoGate = true;
   }
 
   /***
@@ -46,7 +51,12 @@ public class Shooter extends Subsystem {
    */
 
   public boolean isBallInside() {
-    return true;
+
+    if (usePhotogate())
+      return photogate.isBallPresent();
+    else
+      return true;
+
   }
 
   public void setSpeed(double speed) {
@@ -94,19 +104,30 @@ public class Shooter extends Subsystem {
   }
 
   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 (hood.get() == Value.kReverse)
+    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() {
   }