package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Lidar;
import org.usfirst.frc.team3501.robot.MathLib;
import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.CounterBase.EncodingType;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.I2C;
import edu.wpi.first.wpilibj.command.Subsystem;
/***
- * The Shooter consists of a platform and wheel, each controlled by
- * separate motors. The piston controlling the platform pushes the ball onto the
- * wheel. The wheel is controlled by a motor, which is running before the ball
- * is pushed
- * onto the wheel. The spinning wheel propels the ball.
+ * The Shooter consists of a platform and wheel, each controlled by separate
+ * motors. The piston controlling the platform pushes the ball onto the wheel.
+ * The wheel is controlled by a motor, which is running before the ball is
+ * pushed onto the wheel. The spinning wheel propels the ball.
*
* @author superuser
*
private CANTalon shooter;
private DoubleSolenoid hood, punch;
private Encoder encoder;
+ private Lidar lidar;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
+
+ lidar = new Lidar(I2C.Port.kMXP);
}
/***