| 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.*; |
| 5 | |
| 6 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
| 7 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 8 | |
| 9 | public class Claw extends Subsystem { |
| 10 | |
| 11 | private final DoubleSolenoid piston; |
| 12 | |
| 13 | public Claw() { |
| 14 | piston = new DoubleSolenoid( |
| 15 | RobotMap.CLAW_FORWARD_CHANNEL, RobotMap.CLAW_REVERSE_CHANNEL); |
| 16 | } |
| 17 | |
| 18 | public void initDefaultCommand() { |
| 19 | setDefaultCommand(new CloseClaw()); |
| 20 | } |
| 21 | |
| 22 | public void open() { |
| 23 | piston.set(RobotMap.OPEN); |
| 24 | } |
| 25 | |
| 26 | public void close() { |
| 27 | piston.set(RobotMap.CLOSED); |
| 28 | } |
| 29 | } |
| 30 | |