X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=ee2742d2b0209e88c0cd18cd0b54fbebcd9c070b;hb=4b94da2f70ac1e3b8197a0712c68263e26cd68e6;hp=348752566e3a616fc3d54c298297bab3d173aff7;hpb=64055177ef39e87231d59cb427b157fa97bb03da;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 34875256..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;
@@ -10,8 +11,9 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 
 /***
  * The Shooter consists of a platform and wheel, each controlled by
- * separate motors. The motor controlling the platform pushes the ball onto the
- * wheel. The wheel is controlled by a motor, which runs once the ball is pushed
+ * separate motors. The piston controlling the platform pushes the ball onto the
+ * wheel. The wheel is controlled by a motor, which is running before the ball
+ * is pushed
  * onto the wheel. The spinning wheel propels the ball.
  *
  * @author superuser
@@ -34,14 +36,6 @@ public class Shooter extends Subsystem {
         Constants.Shooter.ENCODER_PORT_B, false, EncodingType.k4X);
   }
 
-  /***
-   * 
-   * @return current sensor position??
-   */
-  public double getCurrentSetPoint() {
-    return shooter.get();
-  }
-
   /***
    * This method checks to see if the ball has successfully passed through the
    * intake rollers and is inside.
@@ -55,12 +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() {
@@ -74,7 +64,7 @@ public class Shooter extends Subsystem {
   // Use negative # for decrement. Positive for increment.
 
   public void changeSpeed(double change) {
-    double newSpeed = getCurrentSetPoint() + change;
+    double newSpeed = getSpeed() + change;
     setSpeed(newSpeed);
   }
 
@@ -83,7 +73,7 @@ public class Shooter extends Subsystem {
     punch.set(Constants.Shooter.punch);
   }
 
-  public void resetPunch() {
+  public void retractPunch() {
     punch.set(Constants.Shooter.retract);
   }