Add Lidar

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index d786d22cf5120e6ff680d6c017256ba8c487bd44..f7deb69b1d6b1fc52d26bb6a33eef5283f6efed5 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,10 +1,12 @@
 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.utils.HallEffectSensor;
 
 import com.ctre.CANTalon;
 
+import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
@@ -18,12 +20,14 @@ public class Shooter extends Subsystem {
   public static double CURRENT_SHOOTING_SPEED = DEFAULT_SHOOTING_SPEED;
 
   public static final double SHOOTING_SPEED_INCREMENT = 0;
+  public static Lidar lidar;
 
   private Shooter() {
     flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
 
     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
+    lidar = new Lidar(I2C.Port.kMXP);
   }
 
   public static HallEffectSensor getHallEffectSensor() {
@@ -81,6 +85,10 @@ public class Shooter extends Subsystem {
 
   }
 
+  public double getLidarDistance() {
+    return lidar.pidGet();
+  }
+
   public double getShooterRPM() {
     return hallEffect.getRPM();
   }