| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.RobotMap; |
| 4 | |
| 5 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
| 6 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 7 | |
| 8 | public class Claw extends Subsystem { |
| 9 | |
| 10 | private DoubleSolenoid piston; |
| 11 | |
| 12 | public Claw() { |
| 13 | piston = new DoubleSolenoid( |
| 14 | RobotMap.CLAW_FORWARD_CHANNEL, RobotMap.CLAW_REVERSE_CHANNEL); |
| 15 | } |
| 16 | |
| 17 | public void open() { |
| 18 | piston.set(RobotMap.OPEN); |
| 19 | } |
| 20 | |
| 21 | public void close() { |
| 22 | piston.set(RobotMap.CLOSED); |
| 23 | } |
| 24 | |
| 25 | public boolean isOpen() { |
| 26 | return piston.get().equals(RobotMap.OPEN); |
| 27 | } |
| 28 | |
| 29 | public boolean isClosed() { |
| 30 | return piston.get().equals(RobotMap.CLOSED); |
| 31 | } |
| 32 | |
| 33 | public void initDefaultCommand() {} |
| 34 | } |