X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=ab36fddee10a8be135c5589ef4c1a8b5baa8d0e2;hb=9ca89e45fa84b2ec93bc6adf60c7dde1e0a7defb;hp=bf743b1a3195139d8ec59c73f4d5f713087458e3;hpb=f56e6ebf87134eccc3b8bb0e1d2529bd6cb061dd;p=3501%2F2017steamworks

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index bf743b1..ab36fdd 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -19,7 +19,8 @@ public class Shooter extends Subsystem {
 
   private static final double RPM_THRESHOLD = 10;
   private static final double DEFAULT_INDEXING_MOTOR_VALUE = 0.75;
-  private static final double DEFAULT_SHOOTING_SPEED = 2800; // rpm
+  private static final double REVERSE_FLYWHEEL_MOTOR_VALUE = -0.75;
+  private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
   private static final double SHOOTING_SPEED_INCREMENT = 50;
 
   private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
@@ -52,7 +53,7 @@ public class Shooter extends Subsystem {
    *          motor value from -1 to 1(fastest forward)
    */
   public void setFlyWheelMotorVal(double val) {
-    val = MathLib.restrictToRange(val, 0.0, 1.0);
+    val = MathLib.restrictToRange(val, -1.0, 1.0);
     flyWheel1.set(val);
     flyWheel2.set(val);
   }
@@ -140,4 +141,8 @@ public class Shooter extends Subsystem {
     this.wheelController.setSetPoint(this.targetShootingSpeed);
     this.currentShooterMotorValue = 0;
   }
+
+  public void reverseFlyWheel() {
+    this.setFlyWheelMotorVal(shooter.REVERSE_FLYWHEEL_MOTOR_VALUE);
+  }
 }