- public State getState() {
- return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
+ public double getSpeed() {
+ return encoder.getRate();
+ }
+
+ /*
+ * We are going to map a lidar distance to a shooter speed that will be set to
+ * the shooter. This function does not yet exist so we will just use y=x but
+ * when testing commences we shall create the function
+ */
+ public double getShooterSpeed() {
+ double distanceToGoal = lidar.getDistance();
+ double shooterSpeed = distanceToGoal; // Function to be determined
+ return shooterSpeed;