challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/subsystems/Climber.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2
   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;
   6
   7 import com.ctre.CANTalon;
   8
   9 import edu.wpi.first.wpilibj.command.Subsystem;
  10
  11 public class Climber extends Subsystem {
  12   public static Climber climber;
  13
  14   public static final boolean BRAKE_MODE = true;
  15   public static final boolean COAST_MODE = false;
  16
  17   public static final double CLIMBER_SPEED = 0;
  18
  19   private CANTalon winch;
  20
  21   public Climber() {
  22     winch = new CANTalon(Constants.Climber.WINCH_PORT);
  23   }
  24
  25   public static Climber getClimber() {
  26     if (climber == null) {
  27       climber = new Climber();
  28     }
  29     return climber;
  30   }
  31
  32   public void setMotorValues(double climbingSpeed) {
  33     winch.set(MathLib.limitValue(climbingSpeed, 0.0, 1.0));
  34   }
  35
  36   public void stop() {
  37     winch.set(0);
  38   }
  39
  40   public void setCANTalonsBrakeMode(boolean mode) {
  41     winch.enableBrakeMode(mode);
  42   }
  43
  44   @Override
  45   protected void initDefaultCommand() {
  46     setDefaultCommand(new RunWinchContinuous());
  47   }
  48 }