allwpilib/eclipse-plugins/edu.wpi.first.wpilib.plugins.cpp/resources/templates/examples/PacGoat/src/Subsystems/Shooter.h

#ifndef Shooter_H
#define Shooter_H

#include "Commands/Subsystem.h"
#include "WPILib.h"

/**
 * The Shooter subsystem handles shooting. The mechanism for shooting is
 * slightly complicated because it has to pneumatic cylinders for shooting, and
 * a third latch to allow the pressure to partially build up and reduce the
 * effect of the airflow. For shorter shots, when full power isn't needed, only
 * one cylinder fires.
 *
 * NOTE: Simulation currently approximates this as as single pneumatic cylinder
 * and ignores the latch.
 */
class Shooter: public Subsystem
{
private:
	// Devices
	std::shared_ptr<DoubleSolenoid> piston1;
	std::shared_ptr<DoubleSolenoid> piston2;
	std::shared_ptr<Solenoid> latchPiston;
	std::shared_ptr<DigitalInput> piston1ReedSwitchFront;
	std::shared_ptr<DigitalInput> piston1ReedSwitchBack;
	std::shared_ptr<DigitalInput> hotGoalSensor; // NOTE: Currently ignored in simulation

public:
	Shooter();
	void InitDefaultCommand();

	/**
	 * Extend both solenoids to shoot.
	 */
	void ExtendBoth();

	/**
	 * Retract both solenoids to prepare to shoot.
	 */
	void RetractBoth();

	/**
	 * Extend solenoid 1 to shoot.
	 */
	void Extend1();


	/**
	 * Retract solenoid 1 to prepare to shoot.
	 */
	void Retract1();

	/**
	 * Extend solenoid 2 to shoot.
	 */
	void Extend2();

	/**
	 * Retract solenoid 2 to prepare to shoot.
	 */
	void Retract2();

	/**
	 * Turns off the piston1 double solenoid. This won't actuate anything
	 * because double solenoids preserve their state when turned off. This
	 * should be called in order to reduce the amount of time that the coils are
	 * powered.
	 */
	void Off1();

	/**
	 * Turns off the piston1 double solenoid. This won't actuate anything
	 * because double solenoids preserve their state when turned off. This
	 * should be called in order to reduce the amount of time that the coils are
	 * powered.
	 */
	void Off2();

	/**
	 * Release the latch so that we can shoot
	 */
	void Unlatch();

	/**
	 * Latch so that pressure can build up and we aren't limited by air flow.
	 */
	void Latch();

	/**
	 * Toggles the latch postions
	 */
	void ToggleLatchPosition();

	/**
	 * @return Whether or not piston 1 is fully extended.
	 */
	bool Piston1IsExtended();

	/**
	 * @return Whether or not piston 1 is fully retracted.
	 */
	bool Piston1IsRetracted();

	/**
	 * Turns off all double solenoids. Double solenoids hold their position when
	 * they are turned off. We should turn them off whenever possible to extend
	 * the life of the coils
	 */
	void OffBoth();

	/**
	 * @return Whether or not the goal is hot as read by the banner sensor
	 */
	bool GoalIsHot();
};

#endif