import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.command.Subsystem;
+/***
+ * The Shooter consists of a platform and wheel, each controlled by
+ * separate motors. The motor controlling the platform pushes the ball onto the
+ * wheel. The wheel is controlled by a motor, which runs once the ball is pushed
+ * onto the wheel. The spinning wheel propels the ball.
+ *
+ * @author superuser
+ *
+ */
+
public class Shooter extends Subsystem {
private CANTalon shooter;
private CANTalon angleAdjuster;
}
// Use negative # for decrement. Positive for increment.
+
public void changeSpeed(double change) {
double newSpeed = getCurrentSetPoint() + change;
if (newSpeed > 1.0)