From: EvanYap <evanyap.14@gmail.com>
Date: Fri, 22 Jan 2016 03:45:09 +0000 (-0800)
Subject: Add buttons pressed method and also also add state update
X-Git-Url: http://challenge-bot.com/repos/?a=commitdiff_plain;h=e8986b9b9e0e1b4cb654960e1f891cbfc38642a8;hp=da0c4bd895f527adc9fffdc0a19929379e069ae8;p=3501%2Fstronghold-2016

Add buttons pressed method and also also add state update
---

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 4ad89fd3..1d7fdb3c 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -1,15 +1,19 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Constants.Shooter.State;
+import org.usfirst.frc.team3501.robot.Robot;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
-  CANTalon shooter;
+  private CANTalon shooter;
+  private State state;
 
   public Shooter() {
     shooter = new CANTalon(Constants.Shooter.PORT);
+    state = State.STOPPED;
   }
 
   public double getCurrentSpeed() {
@@ -17,9 +21,44 @@ public class Shooter extends Subsystem {
   }
 
   public void setSpeed(double speed) {
+    state = State.RUNNING;
     shooter.set(speed);
   }
 
+  public void shooterButtonsPressed() {
+
+    if (Robot.oi.rightJoystick
+        .getRawButton(Constants.OI.INCREMENT_SHOOTER_PORT)) {
+      changeSpeed(0.1);
+    }
+
+    if (Robot.oi.rightJoystick
+        .getRawButton(Constants.OI.DECREMENT_SHOOTER_PORT)) {
+      changeSpeed(-0.1);
+    }
+
+    if (Robot.oi.rightJoystick.getRawButton(Constants.OI.TRIGGER_PORT)) {
+      if (this.getState() == State.STOPPED)
+        this.setSpeed(0.5);
+    } else {
+      if (this.getState() == State.RUNNING) {
+        this.stop();
+      }
+    }
+
+    if (Robot.oi.rightJoystick.getRawButton(Constants.OI.PRINT_PORT)) {
+      System.out.println("Current Shooter Speed: " + getCurrentSpeed());
+    }
+  }
+
+  private void stop() {
+    this.setSpeed(0.0);
+  }
+
+  private State getState() {
+    return state;
+  }
+
   // Use negative # for decrement. Positive for increment.
   public void changeSpeed(double change) {
     if (getCurrentSpeed() + change >= 1.0)
@@ -30,6 +69,7 @@ public class Shooter extends Subsystem {
       double newSpeed = getCurrentSpeed() + change;
       setSpeed(newSpeed);
     }
+    this.state = State.RUNNING;
   }
 
   @Override