<commit_before>/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */
package org.usfirst.frc4682.Audacity.commands;

import org.usfirst.frc4682.Audacity.RobotMap;
import edu.wpi.first.wpilibj.Timer;
/**
 *
 * @author luis
 */
public class Autonomous extends CommandBase {
    
    private int frisbeesShot = 0;
    public Autonomous() {
        requires(shooter);
        requires(feeder);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
        frisbeesShot = 0;
        shooter.enable();
        feeder.enable();
        shooter.setSpeed(-1.0);
        Timer.delay(1);
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        frisbeesShot += 1;
        while (!feeder.atEndLimit()) {
            feeder.setSpeed(-RobotMap.feederSpeed);
        }
        while (!feeder.atStartLimit()) {<commit_msg>Reduced speed for fresh battery on autonomous<commit_after>/*
 * To change this template, choose Tools | Templates
 * and open the template in the editor.
 */
package org.usfirst.frc4682.Audacity.commands;

import org.usfirst.frc4682.Audacity.RobotMap;
import edu.wpi.first.wpilibj.Timer;
/**
 *
 * @author luis
 */
public class Autonomous extends CommandBase {
    
    public double shootingSpeed = 0.85;
    private int frisbeesShot = 0;
    public Autonomous() {
        requires(shooter);
        requires(feeder);
    }

    // Called just before this Command runs the first time
    protected void initialize() {
        frisbeesShot = 0;
        shooter.enable();
        feeder.enable();
        shooter.setSpeed(-shootingSpeed);
        Timer.delay(1);
        System.out.print("Autonomous speed: " + shootingSpeed);
    }

    // Called repeatedly when this Command is scheduled to run
    protected void execute() {
        frisbeesShot += 1;
        while (!feeder.atEndLimit()) {
            feeder.setSpeed(-RobotMap.feederSpeed);
        }
        while (!feeder.atStartLimit()) {
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