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   // TODO: check all files for control m characters
  11   private CANTalon shooter;
  12
  13   public Shooter() {
  14     shooter = new CANTalon(Constants.Shooter.PORT);
  15   }
  16
  17   public double getCurrentSetPoint() {
  18     return shooter.get();
  19   }
  20
  21   public void setSpeed(double speed) {
  22     if (speed > 1.0)
  23       shooter.set(1.0);
  24     else if (speed < -1.0)
  25       shooter.set(-1.0);
  26     else
  27       shooter.set(speed);
  28   }
  29
  30   public void stop() {
  31     this.setSpeed(0.0);
  32   }
  33
  34   public State getState() {
  35     return (this.getCurrentSetPoint() == 0) ? State.RUNNING : State.STOPPED;
  36   }
  37
  38   // Use negative # for decrement. Positive for increment.
  39   public void changeSpeed(double change) {
  40     double newSpeed = getCurrentSetPoint() + change;
  41     if (newSpeed > 1.0)
  42       shooter.set(1.0);
  43     else if (newSpeed <= -1.0)
  44       shooter.set(-1.0);
  45     else {
  46       setSpeed(newSpeed);
  47     }
  48   }
  49
  50   @Override
  51   protected void initDefaultCommand() {
  52   }
  53 }