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 shooter;
  10
  11   public Shooter() {
  12     shooter = new CANTalon(Constants.Shooter.PORT);
  13   }
  14
  15   public double getCurrentSpeed() {
  16     return shooter.get();
  17   }
  18
  19   public void setSpeed(double speed) {
  20     shooter.set(speed);
  21   }
  22
  23   // Use negative # for decrement. Positive for increment.
  24   public void changeSpeed(double change) {
  25     if (getCurrentSpeed() >= 1.0)
  26       shooter.set(1.0);
  27     else if (getCurrentSpeed() <= -1.0)
  28       shooter.set(-1.0);
  29     else {
  30       double newSpeed = getCurrentSpeed() + change;
  31       setSpeed(newSpeed);
  32     }
  33   }
  34
  35   @Override
  36   protected void initDefaultCommand() {
  37   }
  38 }