challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2
   3 import org.usfirst.frc.team3501.robot.Constants;
   4 import org.usfirst.frc.team3501.robot.Constants.Shooter.State;
   5
   6 import edu.wpi.first.wpilibj.CANTalon;
   7 import edu.wpi.first.wpilibj.command.Subsystem;
   8
   9 public class Shooter extends Subsystem {
  10   private CANTalon shooter;
  11
  12   public Shooter() {
  13     shooter = new CANTalon(Constants.Shooter.PORT);
  14   }
  15
  16   public double getCurrentSpeed() {
  17     return shooter.get();
  18   }
  19
  20   public void setSpeed(double speed) {
  21     shooter.set(speed);
  22   }
  23
  24   public void stop() {
  25     this.setSpeed(0.0);
  26   }
  27
  28   public State getState() {
  29     return (this.getCurrentSpeed() == 0) ? State.RUNNING : State.STOPPED;
  30   }
  31
  32   // Use negative # for decrement. Positive for increment.
  33   public void changeSpeed(double change) {
  34     if (getCurrentSpeed() + change >= 1.0)
  35       shooter.set(1.0);
  36     else if (getCurrentSpeed() + change <= -1.0)
  37       shooter.set(-1.0);
  38     else {
  39       double newSpeed = getCurrentSpeed() + change;
  40       setSpeed(newSpeed);
  41     }
  42   }
  43
  44   @Override
  45   protected void initDefaultCommand() {
  46   }
  47 }