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 setIncrementSpeed(double increment) {
  24     double newSpeed = getCurrentSpeed() + increment;
  25
  26     if (getCurrentSpeed() >= 1.0) {
  27       wheel.set(1.0);
  28     } else if (getCurrentSpeed() <= -1.0) {
  29       wheel.set(-1.0);
  30     }
  31
  32     wheel.set(newSpeed);
  33   }
  34
  35   // THIS DECREMENT METHOD TAKES ONLY POSITIVE VALUES SINCE IT ACCOUNTS FOR
  36   // SUBTRACTING THE CURRENT MOTOR SPEED!
  37   public void setDecrementSpeed(double decrement) {
  38     double newSpeed = getCurrentSpeed() - decrement;
  39
  40     if (getCurrentSpeed() >= 1.0) {
  41       wheel.set(1.0);
  42     } else if (getCurrentSpeed() <= -1.0) {
  43       wheel.set(-1.0);
  44     }
  45
  46     wheel.set(newSpeed);
  47   }
  48
  49   @Override
  50   protected void initDefaultCommand() {
  51
  52   }
  53 }