Merged with master

diff --cc src/org/usfirst/frc/team3501/robot/Constants.java
index 91a5cc7f2a664980af0a0a51f5bb4aa1aac627e8,d51dfe76479c73135d26c9d7c0afcedaaddbf3eb..312e0c355a8b584dcda01b230f30bb15d121471a
--- 1/src/org/usfirst/frc/team3501/robot/Constants.java
--- 2/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@@ -25,7 -24,8 +24,12 @@@ public class Constants 
      public final static int REVERSE_INTAKE_PORT = 4;
      public static final int INCREASE_SHOOTER_SPEED_PORT = 6;
      public static final int DECREASE_SHOOTER_SPEED_PORT = 2;
++
 +    public static final int CHANGE_CAMERA_VIEW = 6;
++
+     public static final int BRAKE_CANTALONS_PORT = 5;
+     public static final int COAST_CANTALONS_PORT = 3;
++
    }
  
    public static class Shooter {
@@@ -36,10 -36,8 +40,11 @@@
  
      public final static int HALL_EFFECT_PORT = 9;
  
-     public static final int PISTON_MODULE = 10, PISTON_FORWARD = 4,
 +    public final static int TOGGLE_INDEXER = 8;
 +
+     public static final int MODULE_NUMBER = 10, PISTON_FORWARD = 4,
          PISTON_REVERSE = 5;
++
      public static final Value HIGH_GEAR = DoubleSolenoid.Value.kForward;
      public static final Value LOW_GEAR = DoubleSolenoid.Value.kReverse;
    }

diff --cc src/org/usfirst/frc/team3501/robot/OI.java
index 07ad53c765b9f50318f9cb024d4a46c1344e02e1,a1abe0ad63a7b3e3a1fd22c450c5b547402d0a71..880894f810c81705e164e0e1edeb922b0b4cb493
--- 1/src/org/usfirst/frc/team3501/robot/OI.java
--- 2/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@@ -1,6 -1,7 +1,5 @@@
  package org.usfirst.frc.team3501.robot;
  
- import org.usfirst.frc.team3501.robot.commands.climber.ToggleWinch;
 -import org.usfirst.frc.team3501.robot.commands.driving.BrakeCANTalons;
 -import org.usfirst.frc.team3501.robot.commands.driving.CoastCANTalons;
  import org.usfirst.frc.team3501.robot.commands.driving.ToggleGear;
  import org.usfirst.frc.team3501.robot.commands.intake.ReverseIntakeContinuous;
  import org.usfirst.frc.team3501.robot.commands.intake.RunIntakeContinuous;
@@@ -34,13 -32,10 +32,16 @@@ public class OI /* implements KeyListen
    public static Button increaseShooterSpeed;
    public static Button decreaseShooterSpeed;
  
 +  private static Button changeCam;
 +
 +  private static Button togglePiston;
 +  private static Button toggleDriveTrainPiston;
 +
+   public static Button brakeCANTalons;
+   public static Button coastCANTalons;
+ 
    public OI() {
 +
      leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
      rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
  
@@@ -79,17 -70,13 +76,25 @@@
          Constants.OI.DECREASE_SHOOTER_SPEED_PORT);
      decreaseShooterSpeed.whenPressed(new DecreaseShootingSpeed());
  
 +    changeCam = new JoystickButton(rightJoystick,
 +        Constants.OI.CHANGE_CAMERA_VIEW);
 +    changeCam.toggleWhenPressed(new ChangeCameraView());
 +
 +    togglePiston = new JoystickButton(rightJoystick,
 +        Constants.Shooter.TOGGLE_INDEXER);
 +    togglePiston.whenPressed(new ToggleIndexerPiston());
 +
 +    toggleDriveTrainPiston = new JoystickButton(rightJoystick,
 +        Constants.DriveTrain.TOGGLE_DRIVE_PISTON);
 +    toggleDriveTrainPiston.whenPressed(new ToggleGear());
++
+     brakeCANTalons = new JoystickButton(rightJoystick,
+         Constants.OI.BRAKE_CANTALONS_PORT);
+     brakeCANTalons.whenPressed(new BrakeCANTalons());
+ 
+     coastCANTalons = new JoystickButton(rightJoystick,
+         Constants.OI.COAST_CANTALONS_PORT);
+     coastCANTalons.whenPressed(new CoastCANTalons());
    }
  
    public static OI getOI() {

diff --cc src/org/usfirst/frc/team3501/robot/Robot.java
index e72f07e03b85c3a2c8512acf2989800469be42af,a8c48643019bffbf7786a505e4264316be539b42..5e9bd3cbdb496727cd9722efc1630c5ad13c2228
--- 1/src/org/usfirst/frc/team3501/robot/Robot.java
--- 2/src/org/usfirst/frc/team3501/robot/Robot.java
+++ b/src/org/usfirst/frc/team3501/robot/Robot.java
@@@ -24,9 -23,12 +24,12 @@@ public class Robot extends IterativeRob
      oi = OI.getOI();
      shooter = Shooter.getShooter();
      intake = Intake.getIntake();
 -    CameraServer server = CameraServer.getInstance();
+ 
 +    server = CameraServer.getInstance();
      UsbCamera climberCam = server.startAutomaticCapture("climbercam", 0);
      UsbCamera intakeCam = server.startAutomaticCapture("intakecam", 1);
+ 
+     driveTrain.setCANTalonsBrakeMode(driveTrain.DRIVE_COAST_MODE);
    }
  
    public static DriveTrain getDriveTrain() {

diff --cc src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
index 2004c1d506438e2979a3f334f1efa5da251bd908,95940130f11aac8c50ebc54dc29af5d2d13dcf76..ccc0e4374d6223121eefff87bc28ced1bee495c2
--- 1/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
--- 2/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@@ -32,30 -28,27 +29,27 @@@ public class RunIndexWheelContinuous ex
      requires(shooter);
    }
  
-   // Called just before this Command runs the first time
    @Override
    protected void initialize() {
 +    t.start();
    }
  
-   // Called repeatedly when this Command is scheduled to run
    @Override
    protected void execute() {
- 
 -    if (timeSinceInitialized() % 0.5 <= 0.02) {
 +    if (t.get() >= 1) {
        if (Shooter.getShooter().getPistonValue() == Constants.Shooter.LOW_GEAR) {
          Shooter.getShooter().setHighGear();
        } else {
          Shooter.getShooter().setLowGear();
        }
 +      t.reset();
      }
  
 -    double shooterSpeed = shooter.getShooterRPM();
 -    double targetShooterSpeed = shooter.getTargetShootingSpeed();
 -    double threshold = shooter.getRPMThreshold();
 -    if (Math.abs(shooterSpeed - targetShooterSpeed) <= threshold)
 +    if (shooter.isShooterRPMWithinRangeOfTargetSpeed(25))
        shooter.runIndexWheel();
++
    }
  
-   // Called once after isFinished returns true
    @Override
    protected void end() {
      shooter.stopIndexWheel();

diff --cc src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 75737a6f0ce2ebf828a96c48647c158ec7729e10,faca5ddac1c1e7b9caabab21298a932c8192e5d0..820bc6a85c25f2429f5cf9c90153d48475914190
--- 1/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
--- 2/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@@ -16,12 -17,15 +17,16 @@@ public class Shooter extends Subsystem 
    private static HallEffectSensor hallEffect;
    private final CANTalon flyWheel1, flyWheel2, indexWheel;
  
-   private static final double DEFAULT_INDEXING_SPEED = -0.75;
-   private static final double DEFAULT_SHOOTING_SPEED = 2800; // rpm
-   private static final double SHOOTING_SPEED_INCREMENT = 25;
+   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 SHOOTING_SPEED_INCREMENT = 50;
 +  private static final int ACCEPTABLE_SHOOTING_DEVIATION = 300;
  
-   private double currentShootingSpeed = DEFAULT_SHOOTING_SPEED;
+   private double targetShootingSpeed = DEFAULT_SHOOTING_SPEED;
+   private double currentShooterMotorValue = 0;
  
    private final DoubleSolenoid piston;