4cb6c0b8c2f4981c8424467a857cd2bb2ec9ae6e
1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
4 import org
.usfirst
.frc
.team3501
.robot
.MathLib
;
5 import org
.usfirst
.frc
.team3501
.robot
.commands
.climber
.RunWinchContinuous
;
7 import com
.ctre
.CANTalon
;
9 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
11 public class Climber
extends Subsystem
{
12 public static Climber climber
;
14 public static final boolean BRAKE_MODE
= true;
15 public static final boolean COAST_MODE
= false;
17 public static final double CLIMBER_SPEED
= 0;
19 private CANTalon winch
;
22 winch
= new CANTalon(Constants
.Climber
.WINCH_PORT
);
25 public static Climber
getClimber() {
26 if (climber
== null) {
27 climber
= new Climber();
32 public void setMotorValues(double climbingSpeed
) {
33 winch
.set(MathLib
.limitValue(climbingSpeed
, 0.0, 1.0));
40 public void setCANTalonsBrakeMode(boolean mode
) {
41 winch
.enableBrakeMode(mode
);
45 protected void initDefaultCommand() {
46 setDefaultCommand(new RunWinchContinuous());