+ public void shooterButtonsPressed() {\r
+\r
+ if (Robot.oi.rightJoystick\r
+ .getRawButton(Constants.OI.INCREMENT_SHOOTER_PORT)) {\r
+ changeSpeed(0.1);\r
+ }\r
+\r
+ if (Robot.oi.rightJoystick\r
+ .getRawButton(Constants.OI.DECREMENT_SHOOTER_PORT)) {\r
+ changeSpeed(-0.1);\r
+ }\r
+\r
+ if (Robot.oi.rightJoystick.getRawButton(Constants.OI.TRIGGER_PORT)) {\r
+ if (this.getState() == State.STOPPED)\r
+ this.setSpeed(0.5);\r
+ } else {\r
+ if (this.getState() == State.RUNNING) {\r
+ this.stop();\r
+ }\r
+ }\r
+\r
+ if (Robot.oi.rightJoystick.getRawButton(Constants.OI.PRINT_PORT)) {\r
+ System.out.println("Current Shooter Speed: " + getCurrentSpeed());\r
+ }\r
+ }\r
+\r
+ private void stop() {\r
+ this.setSpeed(0.0);\r
+ }\r
+\r
+ private State getState() {\r
+ return state;\r
+ }\r
+\r