X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FScaler.java;h=e56e4a81721df4c9d9ea28b2b3a3f555cb6da534;hb=cef820abab686c8bb7f7cc85428183f1cf110edd;hp=0c2ed0aa999d7734b03c947a68b631386b5a6753;hpb=156512250e4f59f70fcacdd5c160914e5f8e6b83;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 0c2ed0aa..e56e4a81 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -8,34 +8,25 @@ 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 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);
   }
 
-  @Override
-  protected void initDefaultCommand() {
-
-  }
-
   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 disengageHook() {
+    scaler.set(DoubleSolenoid.Value.kForward);
   }
 
   public void runWinch(double speed) {
@@ -46,4 +37,13 @@ public class Scaler extends Subsystem {
 
     winch.set(speed);
   }
+
+  public void stopWinch() {
+    runWinch(Constants.Scaler.WINCH_STOP_SPEED);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+
+  }
 }