1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.RobotMap
;
4 import org
.usfirst
.frc
.team3501
.robot
.commands
.MoveArm
;
6 import edu
.wpi
.first
.wpilibj
.CANJaguar
;
7 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
9 public class Arm
extends Subsystem
{
11 private CANJaguar left
, right
;
14 left
= new CANJaguar(RobotMap
.LEFT_WINCH_ADDRESS
);
15 right
= new CANJaguar(RobotMap
.RIGHT_WINCH_ADDRESS
);
18 public void set(double speed
) {
23 public void setFromJoystick(double speed
) {
24 set(getSpeedFromJoystick(speed
));
27 public void moveLeft(double speed
) {
32 public void moveRight(double speed
) {
37 private double getSpeedFromJoystick(double speed
) {
38 if (Math
.abs(speed
) < RobotMap
.MIN_ARM_JOYSTICK_INPUT
)
44 public void initDefaultCommand() {
45 setDefaultCommand(new MoveArm());