From b87f970088167bdd3f9be3a2e55b28847d37d819 Mon Sep 17 00:00:00 2001
From: EvanYap <evanyap.14@gmail.com>
Date: Thu, 21 Jan 2016 19:16:24 -0800
Subject: [PATCH] Make command for running the shooter when trigger is pressed

---
 src/org/usfirst/frc/team3501/robot/OI.java    | 11 +++--
 .../{changeSpeed.java => runShooter.java}     | 12 +++---
 .../robot/commands/setShooterSpeed.java       | 41 +++++++++++++++++++
 .../team3501/robot/subsystems/Shooter.java    |  4 +-
 4 files changed, 55 insertions(+), 13 deletions(-)
 rename src/org/usfirst/frc/team3501/robot/commands/{changeSpeed.java => runShooter.java} (70%)
 create mode 100644 src/org/usfirst/frc/team3501/robot/commands/setShooterSpeed.java

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 4367d6ae..c93ce127 100644
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -1,6 +1,7 @@
 package org.usfirst.frc.team3501.robot;
 
-import org.usfirst.frc.team3501.robot.commands.changeSpeed;
+import org.usfirst.frc.team3501.robot.commands.runShooter;
+import org.usfirst.frc.team3501.robot.commands.setShooterSpeed;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
@@ -20,19 +21,17 @@ public class OI {
 
     decrementSpeed = new JoystickButton(rightJoystick,
         Constants.OI.DECREMENT_SHOOTER_PORT);
+    decrementSpeed.whenPressed(new setShooterSpeed(-0.1));
 
     incrementSpeed = new JoystickButton(rightJoystick,
         Constants.OI.INCREMENT_SHOOTER_PORT);
+    incrementSpeed.whenPressed(new setShooterSpeed(0.1));
 
     outputCurrentShooterSpeed = new JoystickButton(rightJoystick,
         Constants.OI.SHOOTER_PORT);
 
     runWheel = new JoystickButton(rightJoystick, Constants.OI.TRIGGER_PORT);
-
-    incrementSpeed.whenPressed(new changeSpeed(0.1));
-
-    decrementSpeed.whenPressed(new changeSpeed(-0.1));
-
+    runWheel.whenPressed(new runShooter());
   }
 
 }
diff --git a/src/org/usfirst/frc/team3501/robot/commands/changeSpeed.java b/src/org/usfirst/frc/team3501/robot/commands/runShooter.java
similarity index 70%
rename from src/org/usfirst/frc/team3501/robot/commands/changeSpeed.java
rename to src/org/usfirst/frc/team3501/robot/commands/runShooter.java
index 4928d87c..3d87624f 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/changeSpeed.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/runShooter.java
@@ -4,20 +4,22 @@ import org.usfirst.frc.team3501.robot.Robot;
 
 import edu.wpi.first.wpilibj.command.Command;
 
-public class changeSpeed extends Command {
-  double change = 0.0;
+/**
+ *
+ */
+public class runShooter extends Command {
+
+  public runShooter() {
 
-  public changeSpeed(double change) {
-    this.change = change;
   }
 
   @Override
   protected void initialize() {
+    Robot.shooter.setSpeed(0.5);
   }
 
   @Override
   protected void execute() {
-    Robot.shooter.changeSpeed(change);
   }
 
   @Override
diff --git a/src/org/usfirst/frc/team3501/robot/commands/setShooterSpeed.java b/src/org/usfirst/frc/team3501/robot/commands/setShooterSpeed.java
new file mode 100644
index 00000000..197da910
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/setShooterSpeed.java
@@ -0,0 +1,41 @@
+package org.usfirst.frc.team3501.robot.commands;
+
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class setShooterSpeed extends Command {
+  double change = 0.0;
+  double speed = Robot.shooter.getCurrentSpeed();
+
+  public setShooterSpeed(double speed) {
+    this.speed = speed;
+  }
+
+  public setShooterSpeed(double speed, double change) {
+    this.speed = speed;
+    this.change = change;
+  }
+
+  @Override
+  protected void initialize() {
+  }
+
+  @Override
+  protected void execute() {
+    Robot.shooter.setSpeed(change);
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return true;
+  }
+
+  @Override
+  protected void end() {
+  }
+
+  @Override
+  protected void interrupted() {
+  }
+}
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 51bccd28..4ad89fd3 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -22,9 +22,9 @@ public class Shooter extends Subsystem {
 
   // Use negative # for decrement. Positive for increment.
   public void changeSpeed(double change) {
-    if (getCurrentSpeed() >= 1.0)
+    if (getCurrentSpeed() + change >= 1.0)
       shooter.set(1.0);
-    else if (getCurrentSpeed() <= -1.0)
+    else if (getCurrentSpeed() + change <= -1.0)
       shooter.set(-1.0);
     else {
       double newSpeed = getCurrentSpeed() + change;
-- 
2.30.2