private Encoder encoder;
private Lidar lidar;
private Photogate photogate;
+ private boolean usePhotoGate;
public Shooter() {
shooter = new CANTalon(Constants.Shooter.PORT);
encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
+ usePhotoGate = true;
}
/***
*/
public boolean isBallInside() {
- return photogate.isBallPresent();
+
+ if (usePhotogate())
+ return photogate.isBallPresent();
+ else
+ return true;
+
}
public void setSpeed(double speed) {
return false;
}
+ public boolean usePhotogate() {
+ return this.usePhotoGate;
+ }
+
+ public void togglePhotoGate() {
+ this.usePhotoGate = !this.usePhotoGate;
+ }
+
@Override
protected void initDefaultCommand() {
}