From 49b6d711db3054dfd4e852af572d9212a5a8bf02 Mon Sep 17 00:00:00 2001
From: niyatisriram <niyatisriram@gmail.com>
Date: Wed, 17 Feb 2016 11:03:56 -0800
Subject: [PATCH] Initialize photogate in shooter subsystem

---
 src/org/usfirst/frc/team3501/robot/Robot.java              | 5 +----
 src/org/usfirst/frc/team3501/robot/sensors/Photogate.java  | 5 +----
 src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java | 4 +++-
 3 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/Robot.java b/src/org/usfirst/frc/team3501/robot/Robot.java
index 99f66213..80d78676 100644
--- a/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@ -1,7 +1,6 @@
 package org.usfirst.frc.team3501.robot;
 
 import org.usfirst.frc.team3501.robot.Constants.Defense;
-import org.usfirst.frc.team3501.robot.sensors.Photogate;
 import org.usfirst.frc.team3501.robot.subsystems.DefenseArm;
 import org.usfirst.frc.team3501.robot.subsystems.DriveTrain;
 import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
@@ -23,12 +22,10 @@ public class Robot extends IterativeRobot {
   public static IntakeArm intakeArm;
   public static DefenseArm defenseArm;
 
-  public static Photogate photogate;
-
   // Sendable Choosers send a drop down menu to the Smart Dashboard.
   SendableChooser positionChooser;
   SendableChooser positionOneDefense, positionTwoDefense, positionThreeDefense,
-  positionFourDefense, positionFiveDefense;
+      positionFourDefense, positionFiveDefense;
 
   @Override
   public void robotInit() {
diff --git a/src/org/usfirst/frc/team3501/robot/sensors/Photogate.java b/src/org/usfirst/frc/team3501/robot/sensors/Photogate.java
index b1d00398..c9f3d642 100644
--- a/src/org/usfirst/frc/team3501/robot/sensors/Photogate.java
+++ b/src/org/usfirst/frc/team3501/robot/sensors/Photogate.java
@@ -2,9 +2,6 @@ package org.usfirst.frc.team3501.robot.sensors;
 
 import edu.wpi.first.wpilibj.AnalogInput;
 
-// TODO: Change certain reactions based on testing, ie what value(s) return true
-// and what value(s) return false.
-
 /***
  * The photogate is a pair of IR LED and phototransistor sensor that uses a
  * reflective method to sense the presence of the boulder within the robot's
@@ -44,7 +41,7 @@ public class Photogate extends AnalogInput {
 
   /***
    * @param threshold
-   *          (range [0, 4095]
+   *          (range [0, 4095])
    */
   public void setThreshold(int threshold) {
     this.threshold = threshold;
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 3633c04c..0d9187a4 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -2,6 +2,7 @@ package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.sensors.Lidar;
+import org.usfirst.frc.team3501.robot.sensors.Photogate;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
@@ -24,6 +25,7 @@ public class Shooter extends Subsystem {
   private DoubleSolenoid hood1, hood2, punch;
   private Encoder encoder;
   private Lidar lidar;
+  private Photogate photogate;
 
   public Shooter() {
     shooter = new CANTalon(Constants.Shooter.PORT);
@@ -47,7 +49,7 @@ public class Shooter extends Subsystem {
    */
 
   public boolean isBallInside() {
-    return true;
+    return photogate.isBallPresent();
   }
 
   public void setSpeed(double speed) {
-- 
2.30.2