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=7f685fcb5ec2ef0518cd54508104da5fcf5b9552;hpb=ae33aa8d932b24826d569c12433715b93a34a794;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 7f685fcb..e56e4a81 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -8,37 +8,25 @@ import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 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) {
@@ -50,6 +38,10 @@ public class Scaler extends Subsystem {
     winch.set(speed);
   }
 
+  public void stopWinch() {
+    runWinch(Constants.Scaler.WINCH_STOP_SPEED);
+  }
+
   @Override
   protected void initDefaultCommand() {