SolenoidShifter has been Fixed

subsystems/SolenoidSubsystem.java

@@ -84,7 +84,8 @@ public SolenoidSubsystem(DoubleSolenoid... solenoids) {
 	}
 
 	/**
-	 * DoubleSolenoid.Value simplified to three simple states
+	 * DoubleSolenoid.Value simplified to three simple states. Never use the state
+	 * OFF
 	 */
 	public enum SolenoidState {
 		OFF(DoubleSolenoid.Value.kOff), EXTEND(DoubleSolenoid.Value.kForward), RETRACT(DoubleSolenoid.Value.kReverse);

subsystems/chassis/SolenoidShifters.java

@@ -1,18 +1,15 @@
 package org.usfirst.frc4904.standard.subsystems.chassis;
 
+import org.usfirst.frc4904.standard.subsystems.SolenoidSubsystem;
+
 import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 /**
  * A class that wraps multiple DoubleSolenoid objects with subsystem
  * functionality. Allows for easy inversion and setting of default state of
  * solenoids
  */
-public class SolenoidShifters extends SubsystemBase { // TODO: make solenoidshifters extend solenoidsubsystem
-	protected DoubleSolenoid[] solenoids;
-	protected SolenoidState state;
-	protected SolenoidState defaultState;
-	protected boolean isInverted;
+public class SolenoidShifters extends SolenoidSubsystem { 
 
 	/**
 	 * A class that wraps multiple DoubleSolenoid objects with subsystem
@@ -24,12 +21,9 @@ public class SolenoidShifters extends SubsystemBase { // TODO: make solenoidshif
 	 * @param defaultState Set the default state of the SolenoidSystem
 	 * @param solenoids    Double solenoids of the system
 	 */
+
 	public SolenoidShifters(String name, boolean isInverted, SolenoidState defaultState, DoubleSolenoid... solenoids) {
-		setName(name);
-		this.solenoids = solenoids;
-		this.isInverted = isInverted;
-		this.defaultState = defaultState;
-		this.state = defaultState;
+		super(name, isInverted, defaultState, solenoids);
 	}
 
 	/**
@@ -105,61 +99,6 @@ public SolenoidShifters(DoubleSolenoid... solenoids) {
 		this("SolenoidShifters", solenoids);
 	}
 
-	/**
-	 * DoubleSolenoid.Value simplified to three simple states
-	 */
-	public enum SolenoidState {
-		EXTEND(DoubleSolenoid.Value.kForward), RETRACT(DoubleSolenoid.Value.kReverse);
-
-		public final DoubleSolenoid.Value value;
-
-		private SolenoidState(DoubleSolenoid.Value value) {
-			this.value = value;
-		}
-	}
-
-	/**
-	 * @param state Returns the current state of the system
-	 */
-	public SolenoidState getState() {
-		return state;
-	}
-
-	/**
-	 * Inverts the state given
-	 * 
-	 * @param state SolenoidState to be inverted
-	 * @return SolenoidState Inverted state
-	 * 
-	 */
-	public SolenoidState invertState(SolenoidState state) {
-		switch (state) {
-		case EXTEND:
-			return SolenoidState.RETRACT;
-		case RETRACT:
-			return SolenoidState.EXTEND;
-		}
-		return state;
-	}
-
-	/**
-	 * Sets the state of the system Only sets if current state is not equal to state
-	 * to be set
-	 * 
-	 * @param state State to set system
-	 */
-	public void set(SolenoidState state) {
-		if (isInverted) {
-			state = invertState(state);
-		}
-		this.state = state;
-		if (this.state != state) {
-			for (DoubleSolenoid solenoid : solenoids) {
-				solenoid.set(state.value);
-			}
-		}
-	}
-
 	/**
 	 * Sets the state of the system Only sets if current state is not equal to state
 	 * to be set
@@ -176,35 +115,4 @@ public void set() { // TODO: consider OFF case
 			set(SolenoidState.RETRACT);
 		}
 	}
-
-	/**
-	 * Sets the state of the system regardless of current state
-	 * 
-	 * @param state State to set
-	 */
-	public void setOverride(SolenoidState state) {
-		if (isInverted) {
-			state = invertState(state);
-		}
-		this.state = state;
-		for (DoubleSolenoid solenoid : solenoids) {
-			solenoid.set(state.value);
-		}
-	}
-
-	/**
-	 * @return solenoids DoubleSolenoid objects of the system
-	 */
-	public DoubleSolenoid[] getSolenoids() {
-		return solenoids;
-	}
-
-	/**
-	 * Returns whether the solenoid is extended.
-	 * 
-	 * @return extended
-	 */
-	public boolean isExtended() {
-		return solenoids[0].get() == SolenoidState.EXTEND.value;
-	}
 }