X-Git-Url: http://challenge-bot.com/repos/?p=3501%2F2017steamworks;a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FClimber.java;h=4cec792e1e937aa37e91282823c99e730369894c;hp=3d49f90be48f17f96ef93f6a4c550030697265a2;hb=8275a069e1891bd27156dcd947a897519c42a3a3;hpb=7b3f27ebc4101105e1d54e1f7ae2f6e3f42fa2a8

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java b/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
index 3d49f90..4cec792 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
@@ -1,17 +1,25 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
 import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
 
 import com.ctre.CANTalon;
 
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Climber extends Subsystem {
-  private static Climber climber;
-  private final CANTalon motor;
+  public static Climber climber;
 
-  private Climber() {
-    motor = new CANTalon(Constants.Climber.MOTOR);
+  public static final boolean BRAKE_MODE = true;
+  public static final boolean COAST_MODE = false;
+
+  public static final double CLIMBER_SPEED = 1.0;
+  public boolean shouldBeClimbing = true;
+
+  private CANTalon winch;
+
+  public Climber() {
+    winch = new CANTalon(Constants.Climber.WINCH_PORT);
   }
 
   public static Climber getClimber() {
@@ -21,12 +29,19 @@ public class Climber extends Subsystem {
     return climber;
   }
 
+  public void setMotorValues(double climbingSpeed) {
+    winch.set(MathLib.limitValue(climbingSpeed, 0.0, 1.0));
+  }
+
   public void stop() {
-    setMotorValue(0);
+    winch.set(0);
   }
 
-  public void setMotorValue(final double val) {
-    motor.set(MOTOR);
+  public void setCANTalonsBrakeMode(boolean mode) {
+    winch.enableBrakeMode(mode);
+  }
 
+  @Override
+  protected void initDefaultCommand() {
   }
 }