X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=ef27bf92157dc341fef9f188634a94be34d9ffb3;hb=913142dea025d7127e9039e9bebabc62c4c16bc8;hp=ca09301c4162c69c690e22e8b66029892948197f;hpb=5585bd3152a10ee382cf7d1fc6b75299f96689a7;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 ca09301c..ef27bf92 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,15 +1,53 @@
-package org.usfirst.frc.team3501.robot.subsystems;
-
-import edu.wpi.first.wpilibj.command.Subsystem;
-
-public class Shooter extends Subsystem {
-
-	public Shooter() {
-
-	}
-
-	@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 {
+  // TODO: check all files for control m characters
+  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() {
+  }
+}