Remove control m from file

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

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index ca09301c4162c69c690e22e8b66029892948197f..675b4b8cbf52353aa2a70418ee73c5b3ae3f150e 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,15 +1,53 @@
-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class Shooter extends Subsystem {\r
-\r
-       public Shooter() {\r
-\r
-       }\r
-\r
-       @Override\r
-       protected void initDefaultCommand() {\r
-\r
-       }\r
-}\r
+package org.usfirst.frc.team3501.robot.subsystems;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Constants.Shooter.State;
+
+import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class Shooter extends Subsystem {
+  // TODO: check all files for control m characters
+  private CANTalon shooter;
+
+  public Shooter() {
+    shooter = new CANTalon(Constants.Shooter.PORT);
+  }
+
+  public double getCurrentSetPoint() {
+    return shooter.get();
+  }
+
+  public void setSpeed(double speed) {
+    if (speed >= 1.0)
+      shooter.set(1.0);
+    else if (speed <= -1.0)
+      shooter.set(-1.0);
+    else
+      shooter.set(speed);
+  }
+
+  public void stop() {
+    this.setSpeed(0.0);
+  }
+
+  public State getState() {
+    return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
+  }
+
+  // Use negative # for decrement. Positive for increment.
+  public void changeSpeed(double change) {
+    if (getCurrentSetPoint() + change >= 1.0)
+      shooter.set(1.0);
+    else if (getCurrentSetPoint() + change <= -1.0)
+      shooter.set(-1.0);
+    else {
+      double newSpeed = getCurrentSetPoint() + change;
+      setSpeed(newSpeed);
+    }
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
+}