challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2 import org.usfirst.frc.team3501.robot.Constants;
   3
   4 import edu.wpi.first.wpilibj.CANTalon;
   5 import edu.wpi.first.wpilibj.DoubleSolenoid;
   6 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
   7 import edu.wpi.first.wpilibj.command.Subsystem;
   8
   9 public class Scaler extends Subsystem {
  10         //Scaler related objects
  11         private DoubleSolenoid piston;
  12         private CANTalon winch;
  13
  14
  15         public Scaler() {
  16                 piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL, Constants.Scaler.REVERSE_CHANNEL);
  17                 winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
  18         }
  19
  20         @Override
  21         protected void initDefaultCommand() {
  22
  23         }
  24         public Value getSolenoidValue(){
  25                 return piston.get();
  26         }
  27
  28         public void lift(){
  29                 piston.set(DoubleSolenoid.Value.kReverse);
  30         }
  31
  32         public void lower(){
  33                 piston.set(DoubleSolenoid.Value.kForward);
  34         }
  35
  36         public void disengageHook(){
  37
  38         }
  39
  40         public void runWinch(){
  41
  42         }
  43
  44 }