X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FScaler.java;h=283b1e6c848ad8a0d69d7d19fbc28a8bdfc402ee;hb=b3bdd589f32d9c152d05388ae3ad0d9e56ec833c;hp=97c2e955957aaefac7b8b9964a888ac1477cc537;hpb=804d3b6a139821df41db07e5cd2c513355ac7547;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
index 97c2e955..283b1e6c 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -1,41 +1,49 @@
-package org.usfirst.frc.team3501.robot.subsystems;
-import org.usfirst.frc.team3501.robot.Constants;
-
-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;
-	
-	
-	public Scaler() {
-		piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL, Constants.Scaler.REVERSE_CHANNEL);
-	}
-
-	@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(){
-		
-	}
-	
-}
+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 scaler;
+  private CANTalon winch;
+
+  public Scaler() {
+    scaler = new DoubleSolenoid(9, Constants.Scaler.FORWARD_CHANNEL,
+        Constants.Scaler.REVERSE_CHANNEL);
+    winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
+  }
+
+  public Value getSolenoidValue() {
+    return scaler.get();
+  }
+
+  public void liftScissorLift() {
+    scaler.set(DoubleSolenoid.Value.kReverse);
+  }
+
+  public void lowerScissorLift() {
+    scaler.set(DoubleSolenoid.Value.kForward);
+  }
+
+  public void runWinch(double speed) {
+    if (speed > 1)
+      speed = 1;
+    if (speed < -1)
+      speed = -1;
+
+    winch.set(speed);
+  }
+
+  public void stopWinch() {
+    runWinch(Constants.Scaler.WINCH_STOP_SPEED);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+
+  }
+}