From: Kevin Zhang <icestormf1@gmail.com>
Date: Sat, 23 Jan 2016 02:51:05 +0000 (-0800)
Subject: Remove buttons pressed to change to command based, change getState() to actually... 
X-Git-Url: http://challenge-bot.com/repos/?p=3501%2Fstronghold-2016;a=commitdiff_plain;h=1f0a8a1fdcd06236105d4651bc15552b37da6716

Remove buttons pressed to change to command based, change getState() to actually calculate the state and change methods from private to public
---

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 5727cc28..7376255d 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@ -2,18 +2,15 @@ package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
 import org.usfirst.frc.team3501.robot.Constants.Shooter.State;
-import org.usfirst.frc.team3501.robot.Robot;
 
 import edu.wpi.first.wpilibj.CANTalon;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Shooter extends Subsystem {
   private CANTalon shooter;
-  private State state;
 
   public Shooter() {
     shooter = new CANTalon(Constants.Shooter.PORT);
-    state = State.STOPPED;
   }
 
   public double getCurrentSpeed() {
@@ -21,40 +18,15 @@ public class Shooter extends Subsystem {
   }
 
   public void setSpeed(double speed) {
-    state = State.RUNNING;
     shooter.set(speed);
   }
 
-  public void shooterButtonsPressed() {
-
-    if (Robot.oi.incrementSpeed.get()) {
-      changeSpeed(0.1);
-    }
-
-    if (Robot.oi.decrementSpeed.get()) {
-      changeSpeed(-0.1);
-    }
-
-    if (Robot.oi.trigger.get()) {
-      if (this.getState() == State.STOPPED)
-        this.setSpeed(0.5);
-    } else {
-      if (this.getState() == State.RUNNING) {
-        this.stop();
-      }
-    }
-
-    if (Robot.oi.outputCurrentShooterSpeed.get()) {
-      System.out.println("Current Shooter Speed: " + getCurrentSpeed());
-    }
-  }
-
-  private void stop() {
+  public void stop() {
     this.setSpeed(0.0);
   }
 
-  private State getState() {
-    return state;
+  public State getState() {
+    return (this.getCurrentSpeed() == 0) ? State.RUNNING : State.STOPPED;
   }
 
   // Use negative # for decrement. Positive for increment.
@@ -67,7 +39,6 @@ public class Shooter extends Subsystem {
       double newSpeed = getCurrentSpeed() + change;
       setSpeed(newSpeed);
     }
-    this.state = State.RUNNING;
   }
 
   @Override