X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FScaler.java;h=3c47a4764fd9c7cf401f0e16002981783bed6b35;hb=8e57685f4bacaa8353202309b93bd8f7802e0631;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..3c47a476 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -1,41 +1,89 @@
-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 piston;
+  private CANTalon winch;
+
+  public Scaler() {
+    piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL,
+        Constants.Scaler.REVERSE_CHANNEL);
+    winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
+  }
+
+  public Value getSolenoidValue() {
+    return piston.get();
+  }
+
+  public void liftScissorLift() {
+    piston.set(DoubleSolenoid.Value.kReverse);
+  }
+
+  public void lowerScissorLift() {
+    piston.set(DoubleSolenoid.Value.kForward);
+  }
+
+  public void engageHook() {
+
+  }
+
+  public void disengageHook() {
+  }
+
+  public void runWinch(double speed) {
+    if (speed > 1)
+      speed = 1;
+    if (speed < -1)
+      speed = -1;
+
+    winch.set(speed);
+  }
+
+  /***
+   * This method returns boolean value true or false on whether piston is
+   * extended or not.
+   *
+   * @return
+   *         returns true if piston is extended, false if otherwise.
+   */
+  public boolean getPistonStatus() {
+    return true;
+  }
+
+  /***
+   * This method sets the motor voltage for the scissor lift. The range is from
+   * [-1, 1].
+   *
+   * @param speed
+   *          The voltage that you set the motor at. The range of the voltage of
+   *          the motor is from [-1,1].
+   */
+  public void setScalarSpeed(double speed) {
+
+  }
+
+  /***
+   * This method sets the piston status for the scissor lift.
+   * The piston can either be extended or not extended.
+   *
+   * @param status
+   *          The status of the piston.
+   *          0 for the piston to be extended, 1 for the piston to not be
+   *          extended.
+   */
+
+  public void setPistonStatus(int status) {
+
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+
+  }
+}