| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.RobotMap; |
| 4 | import org.usfirst.frc.team3501.robot.commands.MoveArm; |
| 5 | |
| 6 | import edu.wpi.first.wpilibj.CANJaguar; |
| 7 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 8 | |
| 9 | public class Arm extends Subsystem { |
| 10 | |
| 11 | private CANJaguar left, right; |
| 12 | |
| 13 | public Arm() { |
| 14 | left = new CANJaguar(RobotMap.LEFT_WINCH_ADDRESS); |
| 15 | right = new CANJaguar(RobotMap.RIGHT_WINCH_ADDRESS); |
| 16 | } |
| 17 | |
| 18 | public void set(double speed) { |
| 19 | left.set(-speed); |
| 20 | right.set(speed); |
| 21 | } |
| 22 | |
| 23 | public void setFromJoystick(double speed) { |
| 24 | set(getSpeedFromJoystick(speed)); |
| 25 | } |
| 26 | |
| 27 | public void moveLeft(double speed) { |
| 28 | left.set(speed); |
| 29 | right.set(0); |
| 30 | } |
| 31 | |
| 32 | public void moveRight(double speed) { |
| 33 | right.set(speed); |
| 34 | left.set(0); |
| 35 | } |
| 36 | |
| 37 | private double getSpeedFromJoystick(double speed) { |
| 38 | if (Math.abs(speed) < RobotMap.MIN_ARM_JOYSTICK_INPUT) |
| 39 | speed = 0; |
| 40 | |
| 41 | return speed; |
| 42 | } |
| 43 | |
| 44 | public void initDefaultCommand() { |
| 45 | setDefaultCommand(new MoveArm()); |
| 46 | } |
| 47 | } |