| 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 | } |