Change CANTalon from wheel to shooter

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index c562b20adfb727295ddd8ffba19addba4133b6d2..9e0263697261ab33a8fc022037200714ddf77026 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -6,42 +6,29 @@ import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;\r
 \r
 public class Shooter extends Subsystem {\r
-  CANTalon wheel;\r
+  CANTalon shooter;\r
 \r
   public Shooter() {\r
-    wheel = new CANTalon(Constants.Shooter.SHOOTER_WHEEL_PORT);\r
+    shooter = new CANTalon(Constants.Shooter.SHOOTER_WHEEL_PORT);\r
   }\r
 \r
   public double getCurrentSpeed() {\r
-    return wheel.get();\r
+    return shooter.get();\r
   }\r
 \r
   public void setSpeed(double speed) {\r
-    wheel.set(speed);\r
+    shooter.set(speed);\r
   }\r
 \r
-  public void incrementSpeed(double increment) {\r
+  // Use negative # for decrement. Positive for increment.\r
+  public void changeSpeed(double change) {\r
     if (getCurrentSpeed() >= 1.0)\r
-      wheel.set(1.0);\r
+      shooter.set(1.0);\r
     else if (getCurrentSpeed() <= -1.0)\r
-      wheel.set(-1.0);\r
+      shooter.set(-1.0);\r
     else {\r
-      double newSpeed = getCurrentSpeed() + increment;\r
-      wheel.set(newSpeed);\r
-    }\r
-  }\r
-\r
-  // THIS DECREMENT METHOD TAKES ONLY POSITIVE VALUES SINCE IT ACCOUNTS FOR\r
-  // SUBTRACTING THE CURRENT MOTOR SPEED!\r
-  public void decrementSpeed(double decrement) {\r
-\r
-    if (getCurrentSpeed() >= 1.0)\r
-      wheel.set(1.0);\r
-    else if (getCurrentSpeed() <= -1.0)\r
-      wheel.set(-1.0);\r
-    else {\r
-      double newSpeed = getCurrentSpeed() - decrement;\r
-      wheel.set(newSpeed);\r
+      double newSpeed = getCurrentSpeed() + change;\r
+      shooter.set(newSpeed);\r
     }\r
   }\r
 \r