/** Update control of the shooter */ private void updateNavigatorControl() { if (driverstation.JoystickNavigatorCalibrate) { // lifterobject.moveArms(LifterObject.ARM_UP); } else { // lifterobject.moveArms(LifterObject.ARM_DOWN); } // Print current launch speed to driverstation driverstation.println("Launch Speed: " + (int) (launchSpeed * 100.0) + "%", 2); // Run launch motor on button 3 if (driverstation.JoystickNavigatorButton3) { System.out.println(launchSpeed); shooter.driveLaunchMotor(launchSpeed); } else { shooter.driveLaunchMotor(0.0); } // polls the trigger to see if fire, but only fires if wheel spin button held and at commanded // speed if (driverstation.JoystickNavigatorTrigger && driverstation.JoystickNavigatorButton3 && shooter.atCommandedSpeed()) { shooter.deployFrisbeePneu(Shooter.PNEU_DEPLOY_OUT); } else { shooter.deployFrisbeePneu(Shooter.PNEU_IDLE); } }