Add testing stuff

[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 97c2e955957aaefac7b8b9964a888ac1477cc537..283b1e6c848ad8a0d69d7d19fbc28a8bdfc402ee 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -1,41 +1,49 @@
-package org.usfirst.frc.team3501.robot.subsystems;\r
-import org.usfirst.frc.team3501.robot.Constants;\r
-\r
-import edu.wpi.first.wpilibj.DoubleSolenoid;\r
-import edu.wpi.first.wpilibj.DoubleSolenoid.Value;\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class Scaler extends Subsystem {\r
-       //Scaler related objects\r
-       private DoubleSolenoid piston;\r
-       \r
-       \r
-       public Scaler() {\r
-               piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL, Constants.Scaler.REVERSE_CHANNEL);\r
-       }\r
-\r
-       @Override\r
-       protected void initDefaultCommand() {\r
-\r
-       }\r
-       public Value getSolenoidValue(){\r
-               return piston.get();\r
-       }\r
-       \r
-       public void lift(){\r
-               piston.set(DoubleSolenoid.Value.kReverse);\r
-       }\r
-       \r
-       public void lower(){\r
-               piston.set(DoubleSolenoid.Value.kForward);\r
-       }\r
-       \r
-       public void disengageHook(){\r
-               \r
-       }\r
-       \r
-       public void runWinch(){\r
-               \r
-       }\r
-       \r
-}\r
+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 {
+  private DoubleSolenoid scaler;
+  private CANTalon winch;
+
+  public Scaler() {
+    scaler = new DoubleSolenoid(9, Constants.Scaler.FORWARD_CHANNEL,
+        Constants.Scaler.REVERSE_CHANNEL);
+    winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
+  }
+
+  public Value getSolenoidValue() {
+    return scaler.get();
+  }
+
+  public void liftScissorLift() {
+    scaler.set(DoubleSolenoid.Value.kReverse);
+  }
+
+  public void lowerScissorLift() {
+    scaler.set(DoubleSolenoid.Value.kForward);
+  }
+
+  public void runWinch(double speed) {
+    if (speed > 1)
+      speed = 1;
+    if (speed < -1)
+      speed = -1;
+
+    winch.set(speed);
+  }
+
+  public void stopWinch() {
+    runWinch(Constants.Scaler.WINCH_STOP_SPEED);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+
+  }
+}