Feature flag for intake shooter

src/main/java/frc/robot/Constants.java

@@ -102,6 +102,21 @@ public static class ArmConstants {
 	}
 
 	public static class IntakeShooterConstants {
+		static {
+			switch (currentBot) {
+				case WOOD_BOT:
+					HAS_INTAKE = false;
+					break;
+
+				case COMP_BOT:
+				default:
+					HAS_INTAKE = true;
+					break;
+			}
+		}
+
+		public static final boolean HAS_INTAKE;
+
 		public static final boolean INTAKE_REVERSE = false;
 		public static final boolean FLYWHEEL_REVERSE = false;
 

src/main/java/frc/robot/RobotContainer.java

@@ -15,14 +15,16 @@
 import frc.robot.commands.ArmRotateTo;
 import frc.robot.commands.SetLightstripColor;
 import frc.robot.Constants.VisionConstants;
-import frc.robot.subsystems.IntakeShooter;
 import frc.robot.subsystems.LightStrip;
 import frc.robot.subsystems.SwerveDrivetrain;
 import frc.robot.subsystems.SwerveModule;
 import frc.robot.subsystems.Vision;
 import frc.robot.subsystems.arm.Arm;
 import frc.robot.subsystems.arm.DummyArm;
 import frc.robot.subsystems.arm.RealArm;
+import frc.robot.subsystems.intake.DummyShooter;
+import frc.robot.subsystems.intake.IntakeShooter;
+import frc.robot.subsystems.intake.RealShooter;
 import frc.robot.inputs.ChassisDriveInputs;
 
 import com.kauailabs.navx.frc.AHRS;
@@ -91,11 +93,11 @@ public class RobotContainer {
 			ArmConstants.RIGHT_ENCODER_ID,
 			ArmConstants.ARE_MOTORS_REVERSED) : new DummyArm();
 
-	private final IntakeShooter intakeShooter = new IntakeShooter(
+	private final IntakeShooter intakeShooter = Constants.IntakeShooterConstants.HAS_INTAKE ? new RealShooter(
 			IntakeShooterConstants.FLYWHEEL_MOTOR_LEFT_ID,
 			IntakeShooterConstants.FLYWHEEL_MOTOR_RIGHT_ID,
 			IntakeShooterConstants.INTAKE_MOTOR_LEFT_ID,
-			IntakeShooterConstants.INTAKE_MOTOR_RIGHT_ID);
+			IntakeShooterConstants.INTAKE_MOTOR_RIGHT_ID) : new DummyShooter();
 
 	private final SwerveDrivetrain drivetrain = new SwerveDrivetrain(
 			gyro,

src/main/java/frc/robot/subsystems/intake/DummyShooter.java

@@ -0,0 +1,24 @@
+package frc.robot.subsystems.intake;
+
+public class DummyShooter extends IntakeShooter {
+	public void setFlyWheelSpeed(double speed) {
+	};
+
+	public void startFlyWheels() {
+	}
+
+	public void stopFlywheels() {
+	}
+
+	public void setIntakeSpeed(double speed) {
+	}
+
+	public void intake() {
+	}
+
+	public void intakeReverse() {
+	}
+
+	public void stopIntake() {
+	}
+}

src/main/java/frc/robot/subsystems/intake/IntakeShooter.java

@@ -0,0 +1,27 @@
+package frc.robot.subsystems.intake;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public abstract class IntakeShooter extends SubsystemBase {
+	public void setFlyWheelSpeed(double speed) {
+	};
+
+	public void startFlyWheels() {
+	}
+
+	public void stopFlywheels() {
+	}
+
+	public void setIntakeSpeed(double speed) {
+	}
+
+	public void intake() {
+	}
+
+	public void intakeReverse() {
+	}
+
+	public void stopIntake() {
+	}
+
+}

src/main/java/frc/robot/subsystems/IntakeShooter.java → src/main/java/frc/robot/subsystems/intake/RealShooter.java

@@ -1,9 +1,8 @@
-package frc.robot.subsystems;
+package frc.robot.subsystems.intake;
 
 import com.revrobotics.CANSparkLowLevel;
 import com.revrobotics.CANSparkMax;
 import edu.wpi.first.wpilibj.motorcontrol.Talon;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.IntakeShooterConstants;
 
 /**
@@ -17,7 +16,7 @@
  * 
  * @author Aceius E.
  */
-public class IntakeShooter extends SubsystemBase {
+public class RealShooter extends IntakeShooter {
 	/*
 	 * 2 motors for flywheel
 	 * 2 for intake
@@ -29,13 +28,13 @@ public class IntakeShooter extends SubsystemBase {
 	private final CANSparkMax intake1;
 	private final CANSparkMax intake2; // might not exist
 
-	public IntakeShooter(int flywheel1id, int flywheel2id, int intake1id, int intake2id) {
+	public RealShooter(int flywheel1id, int flywheel2id, int intake1id, int intake2id) {
 		this.flywheel1 = new Talon(flywheel1id);
 		this.flywheel2 = new Talon(flywheel2id);
-		
+
 		flywheel1.setInverted(IntakeShooterConstants.FLYWHEEL_REVERSE);
 		flywheel1.setInverted(IntakeShooterConstants.FLYWHEEL_REVERSE);
-		
+
 		this.intake1 = new CANSparkMax(intake1id, CANSparkLowLevel.MotorType.kBrushless);
 		this.intake2 = new CANSparkMax(intake2id, CANSparkLowLevel.MotorType.kBrushless);
 
@@ -51,7 +50,7 @@ public void setFlyWheelSpeed(double speed) {
 	public void startFlyWheels() {
 		setFlyWheelSpeed(1);
 	}
-	
+
 	public void stopFlywheels() {
 		setFlyWheelSpeed(0);
 	}
@@ -60,7 +59,7 @@ public void setIntakeSpeed(double speed) {
 		intake1.set(speed);
 		intake2.set(speed);
 	}
-	
+
 	public void intake() {
 		setIntakeSpeed(1);
 	}