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