fixed merge conflict in Robot.java

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

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 0264c7578e5f34afb6ce0bdfea7abaab0a36fdec..0d9187a441b6a734e4fc0e61ef3d848a7034d16f 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,7 +1,8 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
-import org.usfirst.frc.team3501.robot.Lidar;
+import org.usfirst.frc.team3501.robot.sensors.Lidar;
+import org.usfirst.frc.team3501.robot.sensors.Photogate;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
@@ -21,14 +22,17 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
   private CANTalon shooter;
-  private CANTalon angleAdjuster;
-  private DoubleSolenoid hood, punch;
+  private DoubleSolenoid hood1, hood2, punch;
   private Encoder encoder;
   private Lidar lidar;
+  private Photogate photogate;
 
   public Shooter() {
     shooter = new CANTalon(Constants.Shooter.PORT);
-    angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
+    hood1 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+        Constants.Shooter.HOOD_REVERSE);
+    hood2 = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+        Constants.Shooter.HOOD_REVERSE);
     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
         Constants.Shooter.PUNCH_REVERSE);
 
@@ -45,7 +49,7 @@ public class Shooter extends Subsystem {
    */
 
   public boolean isBallInside() {
-    return true;
+    return photogate.isBallPresent();
   }
 
   public void setSpeed(double speed) {
@@ -65,6 +69,17 @@ public class Shooter extends Subsystem {
     return encoder.getRate();
   }
 
+  /*
+   * We are going to map a lidar distance to a shooter speed that will be set to
+   * the shooter. This function does not yet exist so we will just use y=x but
+   * when testing commences we shall create the function
+   */
+  public double getShooterSpeed() {
+    double distanceToGoal = lidar.getDistance();
+    double shooterSpeed = distanceToGoal; // Function to be determined
+    return shooterSpeed;
+  }
+
   // Use negative # for decrement. Positive for increment.
 
   public void changeSpeed(double change) {
@@ -81,6 +96,23 @@ public class Shooter extends Subsystem {
     punch.set(Constants.Shooter.retract);
   }
 
+  public void raiseHood() {
+    hood1.set(Constants.Shooter.open);
+    hood2.set(Constants.Shooter.open);
+  }
+
+  public void lowerHood() {
+    hood1.set(Constants.Shooter.closed);
+    hood2.set(Constants.Shooter.closed);
+  }
+
+  public boolean isHoodDown() {
+    if (hood1.get() == Constants.Shooter.open
+        && hood2.get() == Constants.Shooter.open)
+      return true;
+    return false;
+  }
+
   @Override
   protected void initDefaultCommand() {
   }