Add buttons pressed method and also also add state update

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / Shooter.java

package org.usfirst.frc.team3501.robot.subsystems;\r
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import org.usfirst.frc.team3501.robot.Constants;\r
import org.usfirst.frc.team3501.robot.Constants.Shooter.State;\r
import org.usfirst.frc.team3501.robot.Robot;\r
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import edu.wpi.first.wpilibj.CANTalon;\r
import edu.wpi.first.wpilibj.command.Subsystem;\r
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public class Shooter extends Subsystem {\r
  private CANTalon shooter;\r
  private State state;\r
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  public Shooter() {\r
    shooter = new CANTalon(Constants.Shooter.PORT);\r
    state = State.STOPPED;\r
  }\r
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  public double getCurrentSpeed() {\r
    return shooter.get();\r
  }\r
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  public void setSpeed(double speed) {\r
    state = State.RUNNING;\r
    shooter.set(speed);\r
  }\r
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  public void shooterButtonsPressed() {\r
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    if (Robot.oi.rightJoystick\r
        .getRawButton(Constants.OI.INCREMENT_SHOOTER_PORT)) {\r
      changeSpeed(0.1);\r
    }\r
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    if (Robot.oi.rightJoystick\r
        .getRawButton(Constants.OI.DECREMENT_SHOOTER_PORT)) {\r
      changeSpeed(-0.1);\r
    }\r
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    if (Robot.oi.rightJoystick.getRawButton(Constants.OI.TRIGGER_PORT)) {\r
      if (this.getState() == State.STOPPED)\r
        this.setSpeed(0.5);\r
    } else {\r
      if (this.getState() == State.RUNNING) {\r
        this.stop();\r
      }\r
    }\r
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    if (Robot.oi.rightJoystick.getRawButton(Constants.OI.PRINT_PORT)) {\r
      System.out.println("Current Shooter Speed: " + getCurrentSpeed());\r
    }\r
  }\r
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  private void stop() {\r
    this.setSpeed(0.0);\r
  }\r
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  private State getState() {\r
    return state;\r
  }\r
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  // Use negative # for decrement. Positive for increment.\r
  public void changeSpeed(double change) {\r
    if (getCurrentSpeed() + change >= 1.0)\r
      shooter.set(1.0);\r
    else if (getCurrentSpeed() + change <= -1.0)\r
      shooter.set(-1.0);\r
    else {\r
      double newSpeed = getCurrentSpeed() + change;\r
      setSpeed(newSpeed);\r
    }\r
    this.state = State.RUNNING;\r
  }\r
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  @Override\r
  protected void initDefaultCommand() {\r
  }\r
}\r