X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;fp=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=ee2742d2b0209e88c0cd18cd0b54fbebcd9c070b;hb=4b94da2f70ac1e3b8197a0712c68263e26cd68e6;hp=64efa1588b0e31b3d70075848628b3c2763581da;hpb=2c52b14f175c60fc703b7f293d2b9578b78d13b3;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 64efa158..ee2742d2 100755
--- 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;
@@ -48,12 +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() {
@@ -72,7 +69,7 @@ public class Shooter extends Subsystem {
   }
 
   // Punch Commands
-  public void extendPunch() {
+  public void punch() {
     punch.set(Constants.Shooter.punch);
   }