From 69214544045f7b9931a16c700b77f77e90ad069f Mon Sep 17 00:00:00 2001
From: Rohan Rodrigues <rohanrodrigues19@gmail.com>
Date: Sun, 19 Feb 2017 14:03:01 -0800
Subject: [PATCH] Add getters/setters for the pistons

---
 .../team3501/robot/subsystems/Shooter.java    | 23 +++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 7a11c2d..f457ba5 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -6,6 +6,8 @@ import org.usfirst.frc.team3501.robot.utils.HallEffectSensor;
 
 import com.ctre.CANTalon;
 
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
@@ -20,12 +22,17 @@ public class Shooter extends Subsystem {
 
   public static final double SHOOTING_SPEED_INCREMENT = 0.05;
 
+  private final DoubleSolenoid piston;
+
   private Shooter() {
     flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
     flyWheel2 = new CANTalon(Constants.Shooter.FLY_WHEEL2);
     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
 
     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
+
+    piston = new DoubleSolenoid(Constants.DriveTrain.MODULE_NUMBER,
+        Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
   }
 
   public static HallEffectSensor getHallEffectSensor() {
@@ -98,4 +105,20 @@ public class Shooter extends Subsystem {
   public double getShooterRPM() {
     return hallEffect.getRPM();
   }
+
+  public Value getPistonValue() {
+    return piston.get();
+  }
+
+  public void setHighGear() {
+    changeGear(Constants.Shooter.HIGH_GEAR);
+  }
+
+  public void setLowGear() {
+    changeGear(Constants.Shooter.LOW_GEAR);
+  }
+
+  private void changeGear(DoubleSolenoid.Value gear) {
+    piston.set(gear);
+  }
 }
-- 
2.30.2