add winch variable

[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 183166cf40990f1a9bf12e031b2332fff085d117..b926178b7a241b83e09fa1bc3921636aea662156 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -1,15 +1,44 @@
-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class Scaler extends Subsystem {\r
-\r
-       public Scaler() {\r
-\r
-       }\r
-\r
-       @Override\r
-       protected void initDefaultCommand() {\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 {
+       //Scaler related objects
+       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);
+       }
+
+       @Override
+       protected void initDefaultCommand() {
+
+       }
+       public Value getSolenoidValue(){
+               return piston.get();
+       }
+       
+       public void lift(){
+               piston.set(DoubleSolenoid.Value.kReverse);
+       }
+       
+       public void lower(){
+               piston.set(DoubleSolenoid.Value.kForward);
+       }
+       
+       public void disengageHook(){
+               
+       }
+       
+       public void runWinch(){
+               
+       }
+       
+}