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=ab36fddee10a8be135c5589ef4c1a8b5baa8d0e2;hp=85ecf468d6a2498a420813de8a41e84105c8c0ce;hb=9ca89e45fa84b2ec93bc6adf60c7dde1e0a7defb;hpb=c9b2778700c8f0bd6dec88e9993e176823145308

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 85ecf46..ab36fdd 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -7,8 +7,6 @@ import org.usfirst.frc.team3501.robot.utils.PIDController;
 
 import com.ctre.CANTalon;
 
-import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
@@ -28,17 +26,12 @@ public class Shooter extends Subsystem {
   private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
   private double currentShooterMotorValue = 0;
 
-  private final DoubleSolenoid piston;
-
   private Shooter() {
     flyWheel1 = new CANTalon(Constants.Shooter.FLY_WHEEL1);
     flyWheel2 = new CANTalon(Constants.Shooter.FLY_WHEEL2);
     indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
 
     hallEffect = new HallEffectSensor(Constants.Shooter.HALL_EFFECT_PORT, 1);
-
-    piston = new DoubleSolenoid(Constants.Shooter.MODULE_NUMBER,
-        Constants.Shooter.PISTON_FORWARD, Constants.Shooter.PISTON_REVERSE);
   }
 
   /**
@@ -60,7 +53,7 @@ public class Shooter extends Subsystem {
    *          motor value from -1 to 1(fastest forward)
    */
   public void setFlyWheelMotorVal(double val) {
-    val = MathLib.restrictToRange(val, 0.0, 1.0);
+    val = MathLib.restrictToRange(val, -1.0, 1.0);
     flyWheel1.set(val);
     flyWheel2.set(val);
   }
@@ -149,22 +142,6 @@ public class Shooter extends Subsystem {
     this.currentShooterMotorValue = 0;
   }
 
-  public Value getPistonValue() {
-    return piston.get();
-  }
-
-  public void setHighGear() {
-    changeGear(Constants.Shooter.HIGH_GEAR);
-  }
-
-  public void setLowGear() {
-    changeGear(Constants.Shooter.LOW_GEAR);
-  }
-
-  private void changeGear(DoubleSolenoid.Value gear) {
-    piston.set(gear);
-  }
-
   public void reverseFlyWheel() {
     this.setFlyWheelMotorVal(shooter.REVERSE_FLYWHEEL_MOTOR_VALUE);
   }