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f11ce98e KZ |
1 | package org.usfirst.frc3501.RiceCatRobot.subsystems; |
2 | ||
4b8a525f | 3 | import org.usfirst.frc3501.RiceCatRobot.robot.RobotMap; |
f11ce98e KZ |
4 | |
5 | import edu.wpi.first.wpilibj.CANJaguar; | |
6 | import edu.wpi.first.wpilibj.command.Subsystem; | |
7 | ||
8 | public class Arm extends Subsystem { | |
e3bfff96 KZ |
9 | private CANJaguar left, right; |
10 | ||
11 | public Arm() { | |
12 | left = new CANJaguar(RobotMap.ARM_LEFT); | |
13 | right = new CANJaguar(RobotMap.ARM_RIGHT); | |
14 | } | |
15 | ||
16 | public void initDefaultCommand() { | |
17 | } | |
18 | ||
19 | public void fineTuneControl(double d) { | |
20 | if (Math.abs(d) < 0.05) { | |
21 | d = 0; | |
22 | } else if (d > 0) { | |
23 | d *= d; | |
24 | } else { | |
25 | d *= -d; | |
f11ce98e | 26 | } |
e3bfff96 KZ |
27 | setArmSpeeds(d); |
28 | } | |
29 | ||
30 | public void setLeft(double speed) { | |
31 | left.set(-speed); | |
32 | } | |
33 | ||
34 | public void setRight(double speed) { | |
35 | right.set(-speed); | |
36 | } | |
37 | ||
38 | public void setArmSpeeds(double speed) { | |
39 | setLeft(speed); | |
40 | setRight(speed); | |
41 | } | |
42 | ||
43 | public void stop() { | |
44 | left.set(0); | |
45 | right.set(0); | |
46 | } | |
b72e169c | 47 | } |