From d8c019205b133cffe966207a284e1aeae28c453e Mon Sep 17 00:00:00 2001
From: EvanYap <evanyap.14@gmail.com>
Date: Mon, 15 Feb 2016 13:34:24 -0800
Subject: [PATCH] Instantiate lidar objcet in Shooter class

---
 .../team3501/robot/subsystems/Shooter.java    | 22 ++++++++-----------
 1 file changed, 9 insertions(+), 13 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 40a227ce..f01d8c27 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,12 +1,14 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Lidar;
+import org.usfirst.frc.team3501.robot.MathLib;
 
-import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /***
@@ -26,8 +28,6 @@ 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);
@@ -37,7 +37,7 @@ public class Shooter extends Subsystem {
     encoder = new Encoder(Constants.Shooter.ENCODER_PORT_A,
         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
 
-    lidar = new Lidar(Constants.Shooter.LIDAR_I2C_PORT);
+    lidar = new Lidar(I2C.Port.kMXP);
   }
 
   /***
@@ -53,12 +53,8 @@ public class Shooter extends Subsystem {
   }
 
   public void setSpeed(double speed) {
-    if (speed > 1.0)
-      shooter.set(1.0);
-    else if (speed < -1.0)
-      shooter.set(-1.0);
-    else
-      shooter.set(speed);
+    speed = MathLib.constrain(speed, -1, 1);
+    shooter.set(speed);
   }
 
   public void stop() {
@@ -77,7 +73,7 @@ public class Shooter extends Subsystem {
   }
 
   // Punch Commands
-  public void extendPunch() {
+  public void punch() {
     punch.set(Constants.Shooter.punch);
   }
 
@@ -85,8 +81,8 @@ public class Shooter extends Subsystem {
     punch.set(Constants.Shooter.retract);
   }
 
-  @Override
-  protected void initDefaultCommand() {
+  public boolean isHoodOpen() {
+    return hood.get() == Constants.Shooter.open;
   }
 
   public void openHood() {
-- 
2.30.2