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f11ce98e KZ |
1 | package org.usfirst.frc3501.RiceCatRobot.subsystems; |
2 | ||
3 | import org.usfirst.frc3501.RiceCatRobot.RobotMap; | |
4 | ||
5 | import edu.wpi.first.wpilibj.CANJaguar; | |
baf4f2ba | 6 | import edu.wpi.first.wpilibj.DigitalInput; |
f11ce98e KZ |
7 | import edu.wpi.first.wpilibj.command.Subsystem; |
8 | ||
9 | public class Arm extends Subsystem { | |
e3bfff96 | 10 | private CANJaguar left, right; |
baf4f2ba | 11 | private DigitalInput limitSwitch; |
e3bfff96 KZ |
12 | |
13 | public Arm() { | |
14 | left = new CANJaguar(RobotMap.ARM_LEFT); | |
15 | right = new CANJaguar(RobotMap.ARM_RIGHT); | |
baf4f2ba | 16 | limitSwitch = new DigitalInput(RobotMap.ARM_LIMIT_RIGHT); |
e3bfff96 KZ |
17 | } |
18 | ||
19 | public void initDefaultCommand() { | |
20 | } | |
21 | ||
22 | public void fineTuneControl(double d) { | |
23 | if (Math.abs(d) < 0.05) { | |
24 | d = 0; | |
25 | } else if (d > 0) { | |
26 | d *= d; | |
27 | } else { | |
28 | d *= -d; | |
f11ce98e | 29 | } |
e3bfff96 KZ |
30 | setArmSpeeds(d); |
31 | } | |
32 | ||
33 | public void setLeft(double speed) { | |
34 | left.set(-speed); | |
35 | } | |
36 | ||
37 | public void setRight(double speed) { | |
38 | right.set(-speed); | |
39 | } | |
40 | ||
41 | public void setArmSpeeds(double speed) { | |
42 | setLeft(speed); | |
43 | setRight(speed); | |
44 | } | |
45 | ||
46 | public void stop() { | |
47 | left.set(0); | |
48 | right.set(0); | |
49 | } | |
b72e169c | 50 | } |