Change shooter to function off of two pistons, remove punch, shooter motors, and...

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / commands / shooter / Shoot.java

package org.usfirst.frc.team3501.robot.commands.shooter;

import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Robot;

import edu.wpi.first.wpilibj.command.CommandGroup;
import edu.wpi.first.wpilibj.command.WaitCommand;

public class Shoot extends CommandGroup {

  public boolean usePhotogate;

  /**
   * Fires catapult, then resets after a pause. If robot is set to use photogate
   * and no ball is detected, nothing happens.
   * 
   * Precondition: catapult is in reset position, and ball is loaded in
   * catapult.
   */
  public Shoot() {
    if (Robot.shooter.usePhotogate()) {
      if (Robot.shooter.isBallInside()) {
        addSequential(new FireCatapult());
        addSequential(new WaitCommand(Constants.Shooter.WAIT_TIME));
        addSequential(new ResetCatapult());
      }
    } else {
      addSequential(new FireCatapult());
      addSequential(new WaitCommand(Constants.Shooter.WAIT_TIME));
      addSequential(new ResetCatapult());
    }
  }
}