Only shoots when frisbee is loaded and has fine control toggle

src/org/team484/frisbeebot/OI.java

@@ -21,12 +21,16 @@ public class OI {
     Button j1b2 = new JoystickButton(stick2, 2);
     Button j1b3 = new JoystickButton(stick2, 3);
     Button j1b8 = new JoystickButton(stick1, 8);
+    Button j0b1 = new JoystickButton(stick1, 1);
     public double getStick1X() {
         return stick1.getX();
     }
     public double getStick1Y() {
         return stick1.getY();
     }
+    public boolean fineControl() {
+        return j0b1.get();
+    }
     //// CREATING BUTTONS
     // One type of button is a joystick button which is any button on a joystick.
     // You create one by telling it which joystick it's on and which button

src/org/team484/frisbeebot/commands/CommandBase.java

@@ -19,9 +19,10 @@ public abstract class CommandBase extends Command {
     public static OI oi;
     // Create a single static instance of all of your subsystems
     public static Drive drive = new Drive();
-    public static SolenoidSub solenoidsub = new SolenoidSub();
     public static Shooter shooter = new Shooter();
     public static Feeder feeder = new Feeder();
+    public static SolenoidSub solenoidsub = new SolenoidSub(feeder);
+
     public static void init() {
         // This MUST be here. If the OI creates Commands (which it very likely
         // will), constructing it during the construction of CommandBase (from

src/org/team484/frisbeebot/commands/DriveWithJoysticks.java

@@ -22,7 +22,7 @@ protected void initialize() {
 
     // Called repeatedly when this Command is scheduled to run
     protected void execute() {
-        drive.driveWithJoysticks(oi.getStick1X(), oi.getStick1Y());
+        drive.driveWithJoysticks(oi.getStick1X(), oi.getStick1Y(), oi.fineControl());
     }
 
     // Make this return true when this Command no longer needs to run execute()

src/org/team484/frisbeebot/subsystems/Drive.java

@@ -16,6 +16,7 @@ public class Drive extends Subsystem {
     // Put methods for controlling this subsystem
     // here. Call these from Commands.
     RobotDrive robotDrive = new RobotDrive(1, 3, 2, 4);
+    double stick = 0;
     public void initDefaultCommand() {
         // Set the default command for a subsystem here.
         //setDefaultCommand(new MySpecialCommand());
@@ -27,7 +28,11 @@ public void driveForward() {
     public void driveDoNothing() {
         robotDrive.drive(0, 0);
     }
-    public void driveWithJoysticks(double x, double y) {
+    public void driveWithJoysticks(double x, double y, boolean fineControl) {
+        if (fineControl) {
+            y = (y / 10);
+        }
         robotDrive.arcadeDrive(y, x);
+
     }
 }

src/org/team484/frisbeebot/subsystems/Feeder.java

@@ -39,4 +39,7 @@ public boolean checkFeeder() {
     public void fixFeeder() {
         talon.set(0);
     }
+    public boolean getIR() {
+        return ir.get();
+    }
 }

src/org/team484/frisbeebot/subsystems/Shooter.java

@@ -22,10 +22,13 @@ public Shooter()
         try {
             jaguar1 = new CANJaguar(1);
             jaguar2 = new CANJaguar(2);
+            //jaguar1.setVoltageRampRate(0.1);
+            //jaguar2.setVoltageRampRate(0.1);
         } catch(Exception e) {
             System.out.println(e.getMessage());
         }
     }
+
     public void initDefaultCommand() {
         // Set the default command for a subsystem here.
         //setDefaultCommand(new MySpecialCommand());

src/org/team484/frisbeebot/subsystems/SolenoidSub.java

@@ -4,6 +4,7 @@
  */
 package org.team484.frisbeebot.subsystems;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import org.team484.frisbeebot.commands.SolenoidOff;
@@ -17,6 +18,10 @@ public class SolenoidSub extends Subsystem {
     // here. Call these from Commands.
     Solenoid solenoid1 = new Solenoid(1);
     Solenoid solenoid2 = new Solenoid(2);
+    Feeder feeder;
+    public SolenoidSub(Feeder feeder) {
+        this.feeder = feeder;
+    }
     public void initDefaultCommand() {
         // Set the default command for a subsystem here.
         //setDefaultCommand(new MySpecialCommand());
@@ -27,8 +32,10 @@ public void solenoidOut() {
         solenoid2.set(true);
     }
     public void solenoidIn() {
-        solenoid1.set(true);
-        solenoid2.set(false);
+        if (!solenoid1.get() && feeder.getIR()) {
+            solenoid1.set(true);
+            solenoid2.set(false);
+        }
     }
     public void solenoidOff() {
         solenoid1.set(false);