get rid of lidar variables and code that conflicted with lidar variables already...

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 5c92506da9844c021fb770c3736209336df97183..22239e49ee945c5bd0a9a163d9a9da7160233db2 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -12,11 +12,10 @@ import edu.wpi.first.wpilibj.Encoder;
 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
  *
@@ -30,17 +29,15 @@ public class Shooter extends Subsystem {
   private Lidar lidar;
 
   public Shooter() {
+    leftLidar = new AnalogPotentiometer(0);
+    rightLidar = new AnalogPotentiometer(0);
     shooter = new CANTalon(Constants.Shooter.PORT);
-    hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
-        Constants.Shooter.HOOD_REVERSE);
-       angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
-    punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD,
-        Constants.Shooter.PUNCH_REVERSE);
+    angleAdjuster = new CANTalon(Constants.Shooter.ANGLE_ADJUSTER_PORT);
+    punch = new DoubleSolenoid(Constants.Shooter.PUNCH_FORWARD_PORT,
+        Constants.Shooter.PUNCH_REVERSE_PORT);
 
     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
-
-    lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
   }
 
   /***
@@ -88,19 +85,16 @@ 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);
+  @Override
+  protected void initDefaultCommand() {
   }
 
-  public void closeHood() {
-    hood.set(Constants.Shooter.closed);
+  public double getLeftDistanceToTower() {
+    // TODO: find the method that actually gets distance
+    return leftLidar.get();
   }
 
-  @Override
-  protected void initDefaultCommand() {
+  public double getRightDistanceToTower() {
+    return rightLidar.get();
   }
 }