From a56412b727a0e8168a8e4b46fddf1eaad6028f80 Mon Sep 17 00:00:00 2001 From: Cindy Zhang Date: Wed, 17 Feb 2016 10:49:53 -0800 Subject: [PATCH] delete angleAdjuster(cantalon), add hood(double solenoid) and methods for hood --- .../frc/team3501/robot/subsystems/Shooter.java | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java index bcce7bcd..f547ab0e 100755 --- 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() { } -- 2.30.2