competition fixes

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / subsystems / Climber.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java b/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
new file mode 100644 (file)
index 0000000..4cb6c0b
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
@@ -0,0 +1,48 @@
+package org.usfirst.frc.team3501.robot.subsystems;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
+import org.usfirst.frc.team3501.robot.commands.climber.RunWinchContinuous;
+
+import com.ctre.CANTalon;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class Climber extends Subsystem {
+  public static Climber climber;
+
+  public static final boolean BRAKE_MODE = true;
+  public static final boolean COAST_MODE = false;
+
+  public static final double CLIMBER_SPEED = 0;
+
+  private CANTalon winch;
+
+  public Climber() {
+    winch = new CANTalon(Constants.Climber.WINCH_PORT);
+  }
+
+  public static Climber getClimber() {
+    if (climber == null) {
+      climber = new Climber();
+    }
+    return climber;
+  }
+
+  public void setMotorValues(double climbingSpeed) {
+    winch.set(MathLib.limitValue(climbingSpeed, 0.0, 1.0));
+  }
+
+  public void stop() {
+    winch.set(0);
+  }
+
+  public void setCANTalonsBrakeMode(boolean mode) {
+    winch.enableBrakeMode(mode);
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+    setDefaultCommand(new RunWinchContinuous());
+  }
+}