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Delete unused methods and correct logic errors
[3501/stronghold-2016]
/
src
/
org
/
usfirst
/
frc
/
team3501
/
robot
/
subsystems
/
Scaler.java
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
index 0c2ed0aa999d7734b03c947a68b631386b5a6753..e56e4a81721df4c9d9ea28b2b3a3f555cb6da534 100755
(executable)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@
-8,34
+8,25
@@
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj.command.Subsystem;
public class Scaler extends Subsystem {
import edu.wpi.first.wpilibj.command.Subsystem;
public class Scaler extends Subsystem {
- // Scaler related objects
- private DoubleSolenoid piston;
+ private DoubleSolenoid scaler;
private CANTalon winch;
public Scaler() {
private CANTalon winch;
public Scaler() {
-
piston
= new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL,
+
scaler
= new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL,
Constants.Scaler.REVERSE_CHANNEL);
winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
}
Constants.Scaler.REVERSE_CHANNEL);
winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
}
- @Override
- protected void initDefaultCommand() {
-
- }
-
public Value getSolenoidValue() {
public Value getSolenoidValue() {
- return
piston
.get();
+ return
scaler
.get();
}
public void liftScissorLift() {
}
public void liftScissorLift() {
-
piston
.set(DoubleSolenoid.Value.kReverse);
+
scaler
.set(DoubleSolenoid.Value.kReverse);
}
public void lowerScissorLift() {
}
public void lowerScissorLift() {
- piston.set(DoubleSolenoid.Value.kForward);
- }
-
- public void disengageHook() {
+ scaler.set(DoubleSolenoid.Value.kForward);
}
public void runWinch(double speed) {
}
public void runWinch(double speed) {
@@
-46,4
+37,13
@@
public class Scaler extends Subsystem {
winch.set(speed);
}
winch.set(speed);
}
+
+ public void stopWinch() {
+ runWinch(Constants.Scaler.WINCH_STOP_SPEED);
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+
+ }
}
}