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
   5 import edu.wpi.first.wpilibj.CANTalon;
   6 import edu.wpi.first.wpilibj.command.Subsystem;
   7
   8 public class Shooter extends Subsystem {
   9   CANTalon wheel;
  10
  11   public Shooter() {
  12     wheel = new CANTalon(Constants.Shooter.SHOOTER_WHEEL_PORT);
  13   }
  14
  15   public double getCurrentSpeed() {
  16     return wheel.get();
  17   }
  18
  19   public void setSpeed(double speed) {
  20     wheel.set(speed);
  21   }
  22
  23   public void incrementSpeed(double increment) {
  24     if (getCurrentSpeed() >= 1.0)
  25       wheel.set(1.0);
  26     else if (getCurrentSpeed() <= -1.0)
  27       wheel.set(-1.0);
  28     else {
  29       double newSpeed = getCurrentSpeed() + increment;
  30       wheel.set(newSpeed);
  31     }
  32   }
  33
  34   // THIS DECREMENT METHOD TAKES ONLY POSITIVE VALUES SINCE IT ACCOUNTS FOR
  35   // SUBTRACTING THE CURRENT MOTOR SPEED!
  36   public void decrementSpeed(double decrement) {
  37
  38     if (getCurrentSpeed() >= 1.0)
  39       wheel.set(1.0);
  40     else if (getCurrentSpeed() <= -1.0)
  41       wheel.set(-1.0);
  42     else {
  43       double newSpeed = getCurrentSpeed() - decrement;
  44       wheel.set(newSpeed);
  45     }
  46   }
  47
  48   @Override
  49   protected void initDefaultCommand() {
  50
  51   }
  52 }