Fix ports and unusuable code to make shooter test work

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

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index d0516b8e040ec23fc93c84fd3fa3ca5817ea4e42..71e156b6988aec38d24e6a40a9f4edcf6fb0fac1 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -32,6 +32,8 @@ public class Robot extends IterativeRobot {
     driveTrain = new DriveTrain();
     oi = new OI();
 
+    shooter = new Shooter();
+
     // shooter = new Shooter();
     // scaler = new Scaler();
     // intakeArm = new IntakeArm();
@@ -95,8 +97,6 @@ public class Robot extends IterativeRobot {
     SmartDashboard
         .putData("Position Five Defense Chooser", positionFiveDefense);
 
-    shooter = new Shooter();
-
   }
 
   @Override
@@ -121,16 +121,23 @@ public class Robot extends IterativeRobot {
   @Override
   public void teleopInit() {
     Robot.driveTrain.setLowGear();
+    Robot.shooter.raiseHood();
   }
 
   @Override
   public void teleopPeriodic() {
     Scheduler.getInstance().run();
     if (OI.rightJoystick.getTrigger()) {
-      Robot.shooter.setSpeed(1);
+      Robot.shooter.setSpeed(.8);
     } else {
       Robot.shooter.setSpeed(0);
     }
+    if (OI.rightJoystick.getRawButton(2)) {
+      Robot.shooter.extendPunch();
+    } else {
+      Robot.shooter.retractPunch();
+
+    }
   }
 
 }