import edu.wpi.first.wpilibj.command.Subsystem;
public class Scaler extends Subsystem {
- private DoubleSolenoid piston;
+ private DoubleSolenoid 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);
-
- }
-
- public void setPistonStatus(int status) {
-
}
public Value getSolenoidValue() {
- return piston.get();
+ return scaler.get();
}
public void liftScissorLift() {
- piston.set(DoubleSolenoid.Value.kReverse);
+ scaler.set(DoubleSolenoid.Value.kReverse);
}
public void lowerScissorLift() {
- piston.set(DoubleSolenoid.Value.kForward);
- }
-
- public void engageHook() {
-
- }
-
- public void disengageHook() {
+ scaler.set(DoubleSolenoid.Value.kForward);
}
public void runWinch(double speed) {
winch.set(speed);
}
+ public void stopWinch() {
+ runWinch(Constants.Scaler.WINCH_STOP_SPEED);
+ }
+
@Override
protected void initDefaultCommand() {