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=87407950e5cb83d9c6ece2ddce6f22f0467cb804;hb=8275a069e1891bd27156dcd947a897519c42a3a3;hpb=dbf2ff8fd7ae4dc5a1e3a490c47e12380500e8ff

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java b/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
index 8740795..4cec792 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
@@ -1,10 +1,25 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
-public class Climber {
-  private static Climber climber;
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
 
-  private Climber() {
+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 = 1.0;
+  public boolean shouldBeClimbing = true;
+
+  private CANTalon winch;
+
+  public Climber() {
+    winch = new CANTalon(Constants.Climber.WINCH_PORT);
   }
 
   public static Climber getClimber() {
@@ -13,4 +28,20 @@ public class 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() {
+  }
 }