create methods for Scaler subsystem

[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 79b332b026a881ee08b307877860254239e96c71..97c2e955957aaefac7b8b9964a888ac1477cc537 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -1,17 +1,41 @@
 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
-       //fields: the pneumatics\r
+public class Scaler extends Subsystem {\r
+       //Scaler related objects\r
+       private DoubleSolenoid piston;\r
        \r
-       public Scaler(){\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
-               // TODO Auto-generated method stub\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