X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=9e0263697261ab33a8fc022037200714ddf77026;hb=9e247b05247ccbfa685fbf5ab9b62d769f573b35;hp=c562b20adfb727295ddd8ffba19addba4133b6d2;hpb=8a3948435823ea5cd600f68fbbd19341f57c5758;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 c562b20a..9e026369 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -6,42 +6,29 @@ import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
-  CANTalon wheel;
+  CANTalon shooter;
 
   public Shooter() {
-    wheel = new CANTalon(Constants.Shooter.SHOOTER_WHEEL_PORT);
+    shooter = new CANTalon(Constants.Shooter.SHOOTER_WHEEL_PORT);
   }
 
   public double getCurrentSpeed() {
-    return wheel.get();
+    return shooter.get();
   }
 
   public void setSpeed(double speed) {
-    wheel.set(speed);
+    shooter.set(speed);
   }
 
-  public void incrementSpeed(double increment) {
+  // Use negative # for decrement. Positive for increment.
+  public void changeSpeed(double change) {
     if (getCurrentSpeed() >= 1.0)
-      wheel.set(1.0);
+      shooter.set(1.0);
     else if (getCurrentSpeed() <= -1.0)
-      wheel.set(-1.0);
+      shooter.set(-1.0);
     else {
-      double newSpeed = getCurrentSpeed() + increment;
-      wheel.set(newSpeed);
-    }
-  }
-
-  // THIS DECREMENT METHOD TAKES ONLY POSITIVE VALUES SINCE IT ACCOUNTS FOR
-  // SUBTRACTING THE CURRENT MOTOR SPEED!
-  public void decrementSpeed(double decrement) {
-
-    if (getCurrentSpeed() >= 1.0)
-      wheel.set(1.0);
-    else if (getCurrentSpeed() <= -1.0)
-      wheel.set(-1.0);
-    else {
-      double newSpeed = getCurrentSpeed() - decrement;
-      wheel.set(newSpeed);
+      double newSpeed = getCurrentSpeed() + change;
+      shooter.set(newSpeed);
     }
   }