import edu.wpi.first.wpilibj.command.Subsystem;
public class Arm extends Subsystem {
- private CANJaguar left, right;
-
- public Arm() {
- left = new CANJaguar(RobotMap.ARM_LEFT);
- right = new CANJaguar(RobotMap.ARM_RIGHT);
- }
-
- public void initDefaultCommand() {
- }
-
- public void fineTuneControl(double d) {
- if (Math.abs(d) < 0.05) {
- d = 0;
- } else if (d > 0) {
- d *= d;
- } else {
- d *= -d;
- }
- setArmSpeeds(d);
- }
-
- public void setLeft(double speed) {
- left.set(-speed);
- }
-
- public void setRight(double speed) {
- right.set(-speed);
- }
-
- public void setArmSpeeds(double speed) {
- setLeft(speed);
- setRight(speed);
- }
-
- public void stop() {
- left.set(0);
- right.set(0);
+ private CANJaguar left, right;
+
+ public Arm() {
+ left = new CANJaguar(RobotMap.ARM_LEFT);
+ right = new CANJaguar(RobotMap.ARM_RIGHT);
+ }
+
+ public void initDefaultCommand() {
+ }
+
+ public void fineTuneControl(double d) {
+ if (Math.abs(d) < 0.05) {
+ d = 0;
+ } else if (d > 0) {
+ d *= d;
+ } else {
+ d *= -d;
}
+ setArmSpeeds(d);
+ }
+
+ public void setLeft(double speed) {
+ left.set(-speed);
+ }
+
+ public void setRight(double speed) {
+ right.set(-speed);
+ }
+
+ public void setArmSpeeds(double speed) {
+ setLeft(speed);
+ setRight(speed);
+ }
+
+ public void stop() {
+ left.set(0);
+ right.set(0);
+ }
}