X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=0d9187a441b6a734e4fc0e61ef3d848a7034d16f;hp=60452a0c9080bfe4bf61beb2c129ce0be2b37717;hb=c63ba9b9649deb7b4441f318a578c638cb26ebb9;hpb=4d4bcc688036e2dfeb20824d91b8a9972c20ecf4

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 60452a0c..0d9187a4 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -22,15 +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);
 
@@ -94,6 +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() {
   }