package org.usfirst.frc.team4761.robot.subsystems;

import org.usfirst.frc.team4761.robot.XAxisRelativeDirection;

import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Subsystem;

/**
 * A Subsystem that controls the shooter
 */
public class Shooter extends Subsystem {
	
	public final PIDController controller;

    public void initDefaultCommand() {
    	
    }
    
    public void shoot(Solenoid solenoid) {
    	// TODO: Implement shooting
    	
    }
    
    public void rotate(XAxisRelativeDirection direction) {
    	// TODO: Implement turning (must be very precise)
    }
}


@@ -45,16 +45,174 @@
 stems;%0A%0A
+import org.usfirst.frc.team4761.robot.DummyPIDOutput;%0Aimport org.usfirst.frc.team4761.robot.EncoderPIDSource;%0Aimport org.usfirst.frc.team4761.robot.RobotMap;%0A
 import o
@@ -265,16 +265,16 @@
 ection;%0A
-
 %0Aimport 
@@ -306,24 +306,68 @@
 Controller;%0A
+import edu.wpi.first.wpilibj.PIDSourceType;%0A
 import edu.w
@@ -611,16 +611,326 @@
 oller;%0A%0A
+%09public Shooter() %7B%0A%09%09controller = new PIDController(0, 0, 0, %0A%09%09new EncoderPIDSource(RobotMap.shooterEncoder, 1, PIDSourceType.kDisplacement), new DummyPIDOutput());%0A%09%09%0A%09%09controller.disable();%0A%09%09controller.setOutputRange(-1.0, 1.0);%0A%09%09controller.setPercentTolerance(5.0); // This is subject to change%0A%09%09%0A%09%7D%0A%09%0A
     publ

Set up encoder PID