X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FShooter.java;h=85ecf468d6a2498a420813de8a41e84105c8c0ce;hp=faca5ddac1c1e7b9caabab21298a932c8192e5d0;hb=fc01fb0fb74d31a0818c69d0306253deb4236c58;hpb=cb8e86cb498c12dcf4e2b7a5916fc6f4926b77cf

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index faca5dd..85ecf46 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -20,8 +20,9 @@ public class Shooter extends Subsystem {
   private PIDController wheelController;
 
   private static final double RPM_THRESHOLD = 10;
-  private static final double DEFAULT_INDEXING_MOTOR_VALUE = -0.75;
-  private static final double DEFAULT_SHOOTING_SPEED = 3100; // rpm
+  private static final double DEFAULT_INDEXING_MOTOR_VALUE = 0.75;
+  private static final double REVERSE_FLYWHEEL_MOTOR_VALUE = -0.75;
+  private static final double DEFAULT_SHOOTING_SPEED = 2700; // rpm
   private static final double SHOOTING_SPEED_INCREMENT = 50;
 
   private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
@@ -163,4 +164,8 @@ public class Shooter extends Subsystem {
   private void changeGear(DoubleSolenoid.Value gear) {
     piston.set(gear);
   }
+
+  public void reverseFlyWheel() {
+    this.setFlyWheelMotorVal(shooter.REVERSE_FLYWHEEL_MOTOR_VALUE);
+  }
 }