Commit | Line | Data |
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416c4380 YN |
1 | package org.usfirst.frc.team3501.robot.subsystems;\r |
2 | \r | |
40348cab E |
3 | import org.usfirst.frc.team3501.robot.Constants;\r |
4 | \r | |
5 | import edu.wpi.first.wpilibj.CANTalon;\r | |
416c4380 YN |
6 | import edu.wpi.first.wpilibj.command.Subsystem;\r |
7 | \r | |
5585bd31 | 8 | public class Shooter extends Subsystem {\r |
9e247b05 | 9 | CANTalon shooter;\r |
5585bd31 | 10 | \r |
40348cab | 11 | public Shooter() {\r |
e9234163 | 12 | shooter = new CANTalon(Constants.Shooter.PORT);\r |
40348cab | 13 | }\r |
416c4380 | 14 | \r |
cb3389eb | 15 | public double getCurrentSpeed() {\r |
9e247b05 | 16 | return shooter.get();\r |
cb3389eb E |
17 | }\r |
18 | \r | |
19 | public void setSpeed(double speed) {\r | |
9e247b05 | 20 | shooter.set(speed);\r |
cb3389eb E |
21 | }\r |
22 | \r | |
9e247b05 E |
23 | // Use negative # for decrement. Positive for increment.\r |
24 | public void changeSpeed(double change) {\r | |
8e5f83d9 | 25 | if (getCurrentSpeed() >= 1.0)\r |
9e247b05 | 26 | shooter.set(1.0);\r |
8e5f83d9 | 27 | else if (getCurrentSpeed() <= -1.0)\r |
9e247b05 | 28 | shooter.set(-1.0);\r |
8e5f83d9 | 29 | else {\r |
9e247b05 | 30 | double newSpeed = getCurrentSpeed() + change;\r |
e9234163 | 31 | setSpeed(newSpeed);\r |
cb3389eb | 32 | }\r |
cb3389eb E |
33 | }\r |
34 | \r | |
40348cab E |
35 | @Override\r |
36 | protected void initDefaultCommand() {\r | |
40348cab | 37 | }\r |
416c4380 | 38 | }\r |