delete angleAdjuster(cantalon), add hood(double solenoid) and methods for hood

[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 bcce7bcdc2df74ff7de1491ff96cb5dc12d97b51..f547ab0ee84fa2ae9399eb75898534218615ba07 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -21,14 +21,14 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
   private CANTalon shooter;
-  private CANTalon angleAdjuster;
   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);
+    hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
+        Constants.Shooter.HOOD_REVERSE);
     punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
         Constants.Shooter.PUNCH_REVERSE);
 
@@ -92,6 +92,14 @@ public class Shooter extends Subsystem {
     punch.set(Constants.Shooter.retract);
   }
 
+  public void raiseHood() {
+    hood.set(Constants.Shooter.open);
+  }
+
+  public void lowerHood() {
+    hood.set(Constants.Shooter.closed);
+  }
+
   @Override
   protected void initDefaultCommand() {
   }