d9268cb8f2705e921549d3f12abd2602dd51ad80
1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
4 import org
.usfirst
.frc
.team3501
.robot
.MathLib
;
6 import com
.ctre
.CANTalon
;
8 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
10 public class Climber
extends Subsystem
{
11 public static Climber climber
;
13 public static final boolean BRAKE_MODE
= true;
14 public static final boolean COAST_MODE
= false;
16 public static final double CLIMBER_SPEED
= 1.0;
17 public boolean shouldBeClimbing
= false;
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() {