return encoder.getRate();
}
+ /*
+ * We are going to map a lidar distance to a shooter speed that will be set to
+ * the shooter. This function does not yet exist so we will just use y=x but
+ * when testing commences we shall create the function
+ */
public double getShooterSpeed() {
double distanceToGoal = lidar.getDistance();
double shooterSpeed = distanceToGoal; // Function to be determined