From 0b63e0b2e973fe203f664eef86dfafa1f0f90064 Mon Sep 17 00:00:00 2001
From: Cindy Zhang <cindyzyx9@gmail.com>
Date: Mon, 15 Feb 2016 13:51:40 -0800
Subject: [PATCH] extend pidsubsystem, add pid methods

---
 .../team3501/robot/subsystems/Shooter.java    | 28 +++++++++++++++++--
 1 file changed, 26 insertions(+), 2 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 3b91bfe0..04e0582b 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -8,7 +8,7 @@ import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.CounterBase.EncodingType;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.Encoder;
-import edu.wpi.first.wpilibj.command.Subsystem;
+import edu.wpi.first.wpilibj.command.PIDSubsystem;
 
 /***
  * The Shooter consists of a platform and wheel, each controlled by separate
@@ -20,13 +20,18 @@ import edu.wpi.first.wpilibj.command.Subsystem;
  *
  */
 
-public class Shooter extends Subsystem {
+public class Shooter extends PIDSubsystem {
+  private static double kp = 0.013, ki = 0.000015, kd = -0.002;
+  private static double encoderTolerance = 5.0;
+
   private CANTalon shooter;
   private DoubleSolenoid hood, punch;
   private Encoder encoder;
   private Lidar lidar;
 
   public Shooter() {
+    super(kp, ki, kd);
+
     shooter = new CANTalon(Constants.Shooter.PORT);
     hood = new DoubleSolenoid(Constants.Shooter.HOOD_FORWARD,
         Constants.Shooter.HOOD_REVERSE);
@@ -102,4 +107,23 @@ public class Shooter extends Subsystem {
   @Override
   protected void initDefaultCommand() {
   }
+
+  @Override
+  protected double returnPIDInput() {
+    // TODO Auto-generated method stub
+    return 0;
+  }
+
+  @Override
+  protected void usePIDOutput(double output) {
+    // TODO Auto-generated method stub
+
+  }
+
+  public void setEncoderPID() {
+    this.setAbsoluteTolerance(encoderTolerance);
+    this.setOutputRange(-1.0, 1.0);
+    this.setInputRange(-200.0, 200.0);
+    this.enable();
+  }
 }
-- 
2.30.2