From: EvanYap <evanyap.14@gmail.com>
Date: Thu, 21 Jan 2016 04:23:14 +0000 (-0800)
Subject: Creates methods for setting speed, adding to speed, and subtracting from speed along... 
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=cb3389ebe0d39363292bfde20bb5345bd1e34253;hp=40348cabbc95d9cb1253b78e61783933e6a33af6;p=3501%2Fstronghold-2016

Creates methods for setting speed, adding to speed, and subtracting from speed along with buttons corresponding to their actions
---

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index eaf8bc62..564f7a14 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -11,6 +11,8 @@ public class Constants {
     public final static int LEFT_STICK_PORT = 0;
     public final static int RIGHT_STICK_PORT = 0;
     public final static int RIGHT_STICK_TRIGGER = 0;
+    public final static int RIGHT_STICK_LEFT_SILVER_BUTTON = 0;
+    public final static int RIGHT_STICK_RIGHT_SILVER_BUTTON = 0;
   }
 
   public static class DriveTrain {
diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 997be71c..0bf9e3a4 100644
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,14 +1,27 @@
 package org.usfirst.frc.team3501.robot;
 
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.Button;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
 
 public class OI {
   public static Joystick leftJoystick;
   public static Joystick rightJoystick;
+  public static Button leftSilverButton;
+  public static Button rightSilverButton;
 
   public OI() {
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
 
+    leftSilverButton = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_STICK_LEFT_SILVER_BUTTON);
+    ;
+
+    rightSilverButton = new JoystickButton(rightJoystick,
+        Constants.OI.RIGHT_STICK_RIGHT_SILVER_BUTTON);
+    ;
+
   }
+
 }
diff --git a/src/org/usfirst/frc/team3501/robot/commands/ShooterTest.java b/src/org/usfirst/frc/team3501/robot/commands/ShooterTest.java
index 21666071..da1fc777 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/ShooterTest.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/ShooterTest.java
@@ -1,7 +1,6 @@
 package org.usfirst.frc.team3501.robot.commands;
 
-import org.usfirst.frc.team3501.robot.OI;
-import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+import org.usfirst.frc.team3501.robot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
 
@@ -9,24 +8,38 @@ import edu.wpi.first.wpilibj.command.Command;
  *
  */
 public class ShooterTest extends Command {
-  public static Shooter shooter;
-  public static OI oi;
 
   public ShooterTest() {
-    // Use requires() here to declare subsystem dependencies
-    // eg. requires(chassis);
-    requires(shooter);
+
+    requires(Robot.shooter);
   }
 
-  // Called just before this Command runs the first time
   @Override
   protected void initialize() {
-
   }
 
-  // Called repeatedly when this Command is scheduled to run
   @Override
   protected void execute() {
+    boolean triggerPressed = Robot.oi.rightJoystick.getTrigger();
+    boolean leftSidePressed = Robot.oi.leftSilverButton.get();
+    boolean rightSidePressed = Robot.oi.rightSilverButton.get();
+
+    double currentWheelSpeed = Robot.shooter.getCurrentSpeed();
+
+    if (triggerPressed = true) {
+      Robot.shooter.setSpeed(currentWheelSpeed);
+    } else {
+      Robot.shooter.setSpeed(0.0);
+    }
+
+    if (leftSidePressed = true) {
+      Robot.shooter.setDecrementSpeed(0.1);
+    }
+
+    if (rightSidePressed = true) {
+      Robot.shooter.setIncrementSpeed(0.1);
+    }
+
   }
 
   // Make this return true when this Command no longer needs to run execute()
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index b916c044..614fe059 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -12,6 +12,40 @@ public class Shooter extends Subsystem {
     wheel = new CANTalon(Constants.Shooter.SHOOTER_WHEEL_PORT);
   }
 
+  public double getCurrentSpeed() {
+    return wheel.get();
+  }
+
+  public void setSpeed(double speed) {
+    wheel.set(speed);
+  }
+
+  public void setIncrementSpeed(double increment) {
+    double newSpeed = getCurrentSpeed() + increment;
+
+    if (getCurrentSpeed() >= 1.0) {
+      wheel.set(1.0);
+    } else if (getCurrentSpeed() <= -1.0) {
+      wheel.set(-1.0);
+    }
+
+    wheel.set(newSpeed);
+  }
+
+  // THIS DECREMENT METHOD TAKES ONLY POSITIVE VALUES SINCE IT ACCOUNTS FOR
+  // SUBTRACTING THE CURRENT MOTOR SPEED!
+  public void setDecrementSpeed(double decrement) {
+    double newSpeed = getCurrentSpeed() - decrement;
+
+    if (getCurrentSpeed() >= 1.0) {
+      wheel.set(1.0);
+    } else if (getCurrentSpeed() <= -1.0) {
+      wheel.set(-1.0);
+    }
+
+    wheel.set(newSpeed);
+  }
+
   @Override
   protected void initDefaultCommand() {