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 getCurrentSetPoint() {
  17     return shooter.get();
  18   }
  19
  20   public void setSpeed(double speed) {
  21     if (speed >= 1.0)
  22       shooter.set(1.0);
  23     else if (speed <= -1.0)
  24       shooter.set(-1.0);
  25     else
  26       shooter.set(speed);
  27   }
  28
  29   public void stop() {
  30     this.setSpeed(0.0);
  31   }
  32
  33   public State getState() {
  34     return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
  35   }
  36
  37   // Use negative # for decrement. Positive for increment.
  38   public void changeSpeed(double change) {
  39     if (getCurrentSetPoint() + change >= 1.0)
  40       shooter.set(1.0);
  41     else if (getCurrentSetPoint() + change <= -1.0)
  42       shooter.set(-1.0);
  43     else {
  44       double newSpeed = getCurrentSetPoint() + change;
  45       setSpeed(newSpeed);
  46     }
  47   }
  48
  49   @Override
  50   protected void initDefaultCommand() {
  51   }
  52 }