Fix import issue to import the right drivetrain

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

package org.usfirst.frc.team3501.robot.subsystems;

import org.usfirst.frc.team3501.robot.Constants;
import org.usfirst.frc.team3501.robot.Constants.Shooter.State;

import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.command.Subsystem;

public class Shooter extends Subsystem {
  private CANTalon shooter;

  public Shooter() {
    shooter = new CANTalon(Constants.Shooter.PORT);
  }

  public double getCurrentSetPoint() {
    return shooter.get();
  }

  public void setSpeed(double speed) {
    if (speed > 1.0)
      shooter.set(1.0);
    else if (speed < -1.0)
      shooter.set(-1.0);
    else
      shooter.set(speed);
  }

  public void stop() {
    this.setSpeed(0.0);
  }

  public State getState() {
    return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
  }

  // Use negative # for decrement. Positive for increment.
  public void changeSpeed(double change) {
    double newSpeed = getCurrentSetPoint() + change;
    if (newSpeed > 1.0)
      shooter.set(1.0);
    else if (newSpeed < -1.0)
      shooter.set(-1.0);
    else {
      setSpeed(newSpeed);
    }
  }

  @Override
  protected void initDefaultCommand() {
  }
}