50322e52d091cf061077d82eb31cbae2d57d85d0
1 package org
.usfirst
.frc3501
.RiceCatRobot
.subsystems
;
3 import org
.usfirst
.frc3501
.RiceCatRobot
.RobotMap
;
5 import edu
.wpi
.first
.wpilibj
.CANJaguar
;
6 import edu
.wpi
.first
.wpilibj
.Counter
;
7 import edu
.wpi
.first
.wpilibj
.DigitalInput
;
8 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
10 public class Arm
extends Subsystem
{
11 private CANJaguar left
, right
;
13 DigitalInput limitSwitch
= new DigitalInput(1);
14 Counter counter
= new Counter(limitSwitch
);
17 left
= new CANJaguar(RobotMap
.ARM_LEFT
);
18 right
= new CANJaguar(RobotMap
.ARM_RIGHT
);
21 public void initDefaultCommand() {
24 public boolean isSwitchHit() {
25 return counter
.get() > 0;
28 public void initializeCounter() {
32 public void fineTuneControl(double d
) {
33 if (Math
.abs(d
) < 0.05) {
43 public void setLeft(double speed
) {
47 public void setRight(double speed
) {
51 public void setArmSpeeds(double speed
) {