Commit | Line | Data |
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31f6cd19 K |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | import org.usfirst.frc.team3501.robot.Constants; | |
3 | ||
4 | import edu.wpi.first.wpilibj.DoubleSolenoid; | |
5 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; | |
6 | import edu.wpi.first.wpilibj.command.Subsystem; | |
7 | ||
8 | public class Scaler extends Subsystem { | |
9 | //Scaler related objects | |
10 | private DoubleSolenoid piston; | |
11 | ||
12 | ||
13 | public Scaler() { | |
14 | piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL, Constants.Scaler.REVERSE_CHANNEL); | |
15 | } | |
16 | ||
17 | @Override | |
18 | protected void initDefaultCommand() { | |
19 | ||
20 | } | |
21 | public Value getSolenoidValue(){ | |
22 | return piston.get(); | |
23 | } | |
24 | ||
25 | public void lift(){ | |
26 | piston.set(DoubleSolenoid.Value.kReverse); | |
27 | } | |
28 | ||
29 | public void lower(){ | |
30 | piston.set(DoubleSolenoid.Value.kForward); | |
31 | } | |
32 | ||
33 | public void disengageHook(){ | |
34 | ||
35 | } | |
36 | ||
37 | public void runWinch(){ | |
38 | ||
39 | } | |
40 | ||
41 | } |