X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=e677317188a5aefe6257a2520e6cf6280d66a2ac;hb=2460b87aa71b7c0200ade6d6d24e1f99e3c55e07;hp=7376255d6e6eea2feb382c7186f48da30ec136ba;hpb=1f7ac12c38e3fba72805c3646a9d60bb0d40ffb4;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..e6773171 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -13,12 +13,17 @@ public class Shooter extends Subsystem {
     shooter = new CANTalon(Constants.Shooter.PORT);
   }
 
-  public double getCurrentSpeed() {
+  public double getCurrentSetPoint() {
     return shooter.get();
   }
 
   public void setSpeed(double speed) {
-    shooter.set(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() {
@@ -26,17 +31,17 @@ public class Shooter extends Subsystem {
   }
 
   public State getState() {
-    return (this.getCurrentSpeed() == 0) ? State.RUNNING : State.STOPPED;
+    return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
   }
 
   // Use negative # for decrement. Positive for increment.
   public void changeSpeed(double change) {
-    if (getCurrentSpeed() + change >= 1.0)
+    if (getCurrentSetPoint() + change >= 1.0)
       shooter.set(1.0);
-    else if (getCurrentSpeed() + change <= -1.0)
+    else if (getCurrentSetPoint() + change <= -1.0)
       shooter.set(-1.0);
     else {
-      double newSpeed = getCurrentSpeed() + change;
+      double newSpeed = getCurrentSetPoint() + change;
       setSpeed(newSpeed);
     }
   }