Resurrect deleted commit

[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 4fa8f4e31ab5181f3870b1e5c41a251581f86628..ee2742d2b0209e88c0cd18cd0b54fbebcd9c070b 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
@@ -35,14 +36,6 @@ public class Shooter extends Subsystem {
         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
   }
 
-  /***
-   *
-   * @return current sensor position??
-   */
-  public double getCurrentSetPoint() {
-    return shooter.get();
-  }
-
   /***
    * This method checks to see if the ball has successfully passed through the
    * intake rollers and is inside.
@@ -56,12 +49,8 @@ public class Shooter extends Subsystem {
   }
 
   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);
+    speed = MathLib.constrain(speed, -1, 1);
+    shooter.set(speed);
   }
 
   public void stop() {
@@ -75,12 +64,12 @@ public class Shooter extends Subsystem {
   // Use negative # for decrement. Positive for increment.
 
   public void changeSpeed(double change) {
-    double newSpeed = getCurrentSetPoint() + change;
+    double newSpeed = getSpeed() + change;
     setSpeed(newSpeed);
   }
 
   // Punch Commands
-  public void extendPunch() {
+  public void punch() {
     punch.set(Constants.Shooter.punch);
   }