reset to unix format

[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..3c47a4764fd9c7cf401f0e16002981783bed6b35 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -1,41 +1,89 @@
-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 piston;
+  private CANTalon winch;
+
+  public Scaler() {
+    piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL,
+        Constants.Scaler.REVERSE_CHANNEL);
+    winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
+  }
+
+  public Value getSolenoidValue() {
+    return piston.get();
+  }
+
+  public void liftScissorLift() {
+    piston.set(DoubleSolenoid.Value.kReverse);
+  }
+
+  public void lowerScissorLift() {
+    piston.set(DoubleSolenoid.Value.kForward);
+  }
+
+  public void engageHook() {
+
+  }
+
+  public void disengageHook() {
+  }
+
+  public void runWinch(double speed) {
+    if (speed > 1)
+      speed = 1;
+    if (speed < -1)
+      speed = -1;
+
+    winch.set(speed);
+  }
+
+  /***
+   * This method returns boolean value true or false on whether piston is
+   * extended or not.
+   *
+   * @return
+   *         returns true if piston is extended, false if otherwise.
+   */
+  public boolean getPistonStatus() {
+    return true;
+  }
+
+  /***
+   * This method sets the motor voltage for the scissor lift. The range is from
+   * [-1, 1].
+   *
+   * @param speed
+   *          The voltage that you set the motor at. The range of the voltage of
+   *          the motor is from [-1,1].
+   */
+  public void setScalarSpeed(double speed) {
+
+  }
+
+  /***
+   * This method sets the piston status for the scissor lift.
+   * The piston can either be extended or not extended.
+   *
+   * @param status
+   *          The status of the piston.
+   *          0 for the piston to be extended, 1 for the piston to not be
+   *          extended.
+   */
+
+  public void setPistonStatus(int status) {
+
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+
+  }
+}