[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / Scaler.java

package org.usfirst.frc.team3501.robot.subsystems;
import org.usfirst.frc.team3501.robot.Constants;

import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.command.Subsystem;

public class Scaler extends Subsystem {
        //Scaler related objects
        private DoubleSolenoid piston;
        private CANTalon winch;
        
        public Scaler() {
                piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL, Constants.Scaler.REVERSE_CHANNEL);
                winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
        }

        @Override
        protected void initDefaultCommand() {

        }
        
        public Value getSolenoidValue(){
                return piston.get();
        }
        
        public void liftScissorLift(){
                piston.set(DoubleSolenoid.Value.kReverse);
        }
        
        public void lowerScissorLift(){
                piston.set(DoubleSolenoid.Value.kForward);
        }
        
        public void disengageHook(){
        }
        
        public void runWinch(double speed){
                if( speed > 1)
                        speed = 1;
                if(speed < -1)
                        speed = -1;
                
                winch.set(speed);
        }
}