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

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / Shooter.java

package org.usfirst.frc.team3501.robot.subsystems;

import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.sensors.Photogate;

import edu.wpi.first.wpilibj.DoubleSolenoid;
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.
 * 
 * @author superuser
 * 
 */

public class Shooter extends Subsystem {
  private DoubleSolenoid catapult1, catapult2;
  private Photogate photogate;
  private boolean usePhotoGate;

  public Shooter() {
    catapult1 = new DoubleSolenoid(Constants.Shooter.CATAPULT1_MODULE,
        Constants.Shooter.CATAPULT1_FORWARD,
        Constants.Shooter.CATAPULT1_REVERSE);
    catapult2 = new DoubleSolenoid(Constants.Shooter.CATAPULT2_MODULE,
        Constants.Shooter.CATAPULT2_FORWARD,
        Constants.Shooter.CATAPULT2_REVERSE);
    usePhotoGate = false;
  }

  /***
   * This method checks to see if the ball has successfully passed through the
   * intake rollers and is inside.
   * 
   * @return whether the presence of the ball is true or false and returns the
   *         state of the condition (true or false).
   */

  public boolean isBallInside() {
    if (usePhotogate())
      return photogate.isBallPresent();
    else
      return true;
  }

  // Catapult Commands
  public void fireCatapult() {
    catapult1.set(Constants.Shooter.shoot);
    catapult2.set(Constants.Shooter.shoot);
  }

  public void resetCatapult() {
    catapult1.set(Constants.Shooter.reset);
    catapult2.set(Constants.Shooter.reset);
  }

  public boolean usePhotogate() {
    return this.usePhotoGate;
  }

  public void togglePhotoGate() {
    this.usePhotoGate = !this.usePhotoGate;
  }

  @Override
  protected void initDefaultCommand() {
  }
}