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package org.frc1675.subsystems;

import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.SpeedController;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj.command.PIDSubsystem;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.interfaces.Potentiometer;

/**
 * Shoulder represents the system used for changing the angle of the entire claw
 * and shooter assembly.
 * @author josh
 */
public class Shoulder extends PIDSubsystem {
    private final int shoulderMotorPort = 1;
    private final int potPort = 2;
    private final int potLowAngle = 60;
    private final int potMedAngle = 70;
    private final int potHighAngle = 80;
    private final int potScale = 50;
    //private static final double p = 10;
    AnalogPotentiometer pot;
    SpeedController motor;

   public Shoulder(double p, double i,double d) {
     
       super(p,i,d);
        this.pot = new AnalogPotentiometer(potPort,potScale);
        this.motor = new Talon(shoulderMotorPort);
    }
    
    

    public void initDefaultCommand() {
        // Set the default command for a subsystem here.
        //setDefaultCommand(new MySpecialCommand());
    }
    public void rawMoveShoulder(double joystickValue){
        motor.set(joystickValue);
    }

    protected double returnPIDInput() {
        return pot.get();
    }

    protected void usePIDOutput(double d) {
        motor.set(d);
    }
   
    
            }

@@ -244,263 +244,25 @@
 ibj.
-AnalogPotentiometer;%0Aimport edu.wpi.first.wpilibj.SpeedController;%0Aimport edu.wpi.first.wpilibj.Talon;%0Aimport edu.wpi.first.wpilibj.command.PIDSubsystem;%0Aimport edu.wpi.first.wpilibj.command.Subsystem;%0Aimport edu.wpi.first.wpilibj.interfaces.Potentiometer
+command.Subsystem
 ;%0A%0A/
@@ -420,19 +420,16 @@
 extends 
-PID
 Subsyste
@@ -440,963 +440,247 @@
     
-private final int shoulderMotorPort = 1;%0A    private final int potPort = 2;%0A    private final int potLowAngle = 60;%0A    private final int potMedAngle = 70;%0A    private final int potHighAngle = 80;%0A    private final int potScale = 50;%0A    //private static final double p = 10;%0A    AnalogPotentiometer pot;%0A    SpeedController motor;%0A%0A   public Shoulder(double p, double i,double d) %7B%0A     %0A       super(p,i,d);%0A        this.pot = new AnalogPotentiometer(potPort,potScale);%0A        this.motor = new Talon(shoulderMotorPort);%0A    %7D%0A    %0A    %0A%0A    public void initDefaultCommand() %7B%0A        // Set the default command for a subsystem here.%0A        //setDefaultCommand(new MySpecialCommand());%0A    %7D%0A    public void rawMoveShoulder(double joystickValue)%7B%0A        motor.set(joystickValue);%0A    %7D%0A%0A    protected double returnPIDInput() %7B%0A        return pot.get();%0A    %7D%0A%0A    protected void usePIDOutput(double d) %7B%0A        motor.set(d);%0A    %7D%0A   %0A    %0A            
+// Put methods for controlling this subsystem%0A    // here. Call these from Commands.%0A%0A    public void initDefaultCommand() %7B%0A        // Set the default command for a subsystem here.%0A        //setDefaultCommand(new MySpecialCommand());%0A    %7D%0A
 %7D%0A

Revert "Resolved merge conflicts"