Remove buttons pressed to change to command based, change getState() to actually...

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / Shooter.java

package org.usfirst.frc.team3501.robot.subsystems;\r
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import org.usfirst.frc.team3501.robot.Constants;\r
import org.usfirst.frc.team3501.robot.Constants.Shooter.State;\r
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import edu.wpi.first.wpilibj.CANTalon;\r
import edu.wpi.first.wpilibj.command.Subsystem;\r
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public class Shooter extends Subsystem {\r
  private CANTalon shooter;\r
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  public Shooter() {\r
    shooter = new CANTalon(Constants.Shooter.PORT);\r
  }\r
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  public double getCurrentSpeed() {\r
    return shooter.get();\r
  }\r
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  public void setSpeed(double speed) {\r
    shooter.set(speed);\r
  }\r
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  public void stop() {\r
    this.setSpeed(0.0);\r
  }\r
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  public State getState() {\r
    return (this.getCurrentSpeed() == 0) ? State.RUNNING : State.STOPPED;\r
  }\r
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  // Use negative # for decrement. Positive for increment.\r
  public void changeSpeed(double change) {\r
    if (getCurrentSpeed() + change >= 1.0)\r
      shooter.set(1.0);\r
    else if (getCurrentSpeed() + change <= -1.0)\r
      shooter.set(-1.0);\r
    else {\r
      double newSpeed = getCurrentSpeed() + change;\r
      setSpeed(newSpeed);\r
    }\r
  }\r
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  @Override\r
  protected void initDefaultCommand() {\r
  }\r
}\r