X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=07948f2f144579922ccf35da7fdc11507fe16630;hb=5932d8339e4e4f02a0689aecf77cd7fd9b72e854;hp=7376255d6e6eea2feb382c7186f48da30ec136ba;hpb=1f0a8a1fdcd06236105d4651bc15552b37da6716;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 7376255d..07948f2f 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,47 +1,52 @@
-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 {
-  private CANTalon shooter;
-
-  public Shooter() {
-    shooter = new CANTalon(Constants.Shooter.PORT);
-  }
-
-  public double getCurrentSpeed() {
-    return shooter.get();
-  }
-
-  public void setSpeed(double speed) {
-    shooter.set(speed);
-  }
-
-  public void stop() {
-    this.setSpeed(0.0);
-  }
-
-  public State getState() {
-    return (this.getCurrentSpeed() == 0) ? State.RUNNING : State.STOPPED;
-  }
-
-  // Use negative # for decrement. Positive for increment.
-  public void changeSpeed(double change) {
-    if (getCurrentSpeed() + change >= 1.0)
-      shooter.set(1.0);
-    else if (getCurrentSpeed() + change <= -1.0)
-      shooter.set(-1.0);
-    else {
-      double newSpeed = getCurrentSpeed() + change;
-      setSpeed(newSpeed);
-    }
-  }
-
-  @Override
-  protected void initDefaultCommand() {
-  }
-}
+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 {
+  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) {
+    double newSpeed = getCurrentSetPoint() + change;
+    if (newSpeed > 1.0)
+      shooter.set(1.0);
+    else if (newSpeed < -1.0)
+      shooter.set(-1.0);
+    else {
+      setSpeed(newSpeed);
+    }
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+  }
+}