Moves C++ templates and examples to match gradle setup (#1065)

wpilibcExamples/src/main/cpp/examples/PacGoat/include/Subsystems/Shooter.h

@@ -0,0 +1,127 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2017-2018 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+#pragma once
+
+#include <Commands/Subsystem.h>
+#include <DigitalInput.h>
+#include <DoubleSolenoid.h>
+#include <Solenoid.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 frc::Subsystem {
+ public:
+  Shooter();
+  void InitDefaultCommand() override;
+
+  /**
+   * 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();
+
+ private:
+  // Devices
+  frc::DoubleSolenoid m_piston1{3, 4};
+  frc::DoubleSolenoid m_piston2{5, 6};
+  frc::Solenoid m_latchPiston{1, 2};
+  frc::DigitalInput m_piston1ReedSwitchFront{9};
+  frc::DigitalInput m_piston1ReedSwitchBack{11};
+  frc::DigitalInput m_hotGoalSensor{
+      7};  // NOTE: Currently ignored in simulation
+};