Instantiate lidar objcet in Shooter class

[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 ee2742d2b0209e88c0cd18cd0b54fbebcd9c070b..f01d8c2743c1ef50c89f09da92cadf1ddb39989d 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,20 +1,21 @@
 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.MathLib;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.I2C;
 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.
+ * 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
  *
@@ -22,18 +23,21 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
   private CANTalon shooter;
-  private CANTalon angleAdjuster;
-  private DoubleSolenoid punch;
+  private DoubleSolenoid hood, punch;
   private Encoder encoder;
+  private Lidar lidar;
 
   public Shooter() {
     shooter = new CANTalon(Constants.Shooter.PORT);
-    angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
-    punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
-        Constants.Shooter.PUNCH_REVERSE_PORT);
+    hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+        Constants.Shooter.HOOD_REVERSE);
+    punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
+        Constants.Shooter.PUNCH_REVERSE);
 
     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
+
+    lidar = new Lidar(I2C.Port.kMXP);
   }
 
   /***
@@ -77,6 +81,18 @@ public class Shooter extends Subsystem {
     punch.set(Constants.Shooter.retract);
   }
 
+  public boolean isHoodOpen() {
+    return hood.get() == Constants.Shooter.open;
+  }
+
+  public void openHood() {
+    hood.set(Constants.Shooter.open);
+  }
+
+  public void closeHood() {
+    hood.set(Constants.Shooter.closed);
+  }
+
   @Override
   protected void initDefaultCommand() {
   }