From 43980ce140ec7ed3392eb4d117092389f1ad57dd Mon Sep 17 00:00:00 2001
From: Shivani Ghanta <shivani.oghanta@gmail.com>
Date: Tue, 17 Jan 2017 19:59:52 -0800
Subject: [PATCH] add Motor value in constants

---
 src/org/usfirst/frc/team3501/robot/Constants.java    |  8 +++++++-
 .../team3501/robot/commands/climber/RunWinch.java    |  3 +--
 .../robot/commands/climber/RunWinchContinuous.java   |  1 +
 .../team3501/robot/commands/climber/StopWinch.java   |  2 ++
 .../frc/team3501/robot/subsystems/Climber.java       | 12 ++++++++++--
 5 files changed, 21 insertions(+), 5 deletions(-)

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index a3e3e42..911bfdc 100644
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -10,7 +10,7 @@ public class Constants {
   public static class OI {
     public final static int LEFT_STICK_PORT = 0;
     public final static int RIGHT_STICK_PORT = 1;
-    public final static int  TOGGLE_WINCH_PORT = 0;
+    public final static int TOGGLE_WINCH_PORT = 0;
   }
 
   public static class DriveTrain {
@@ -27,6 +27,12 @@ public class Constants {
     public static final int ENCODER_RIGHT_B = 3;
   }
 
+  public static class Climber {
+    // MOTOR CONTROLLERS
+    public static final int MOTOR_VAL = 1;
+
+  }
+
   public static enum Direction {
     LEFT, RIGHT, DOWN, UP, FORWARD, BACKWARD;
   }
diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
index 54df317..eda932a 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinch.java
@@ -2,8 +2,7 @@ package org.usfirst.frc.team3501.robot.commands.climber;
 
 import org.usfirst.frc.team3501.robot.Robot;
 
-import com.sun.glass.ui.Timer;
-
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj.command.Command;
 
 /**
diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
index bb2a74e..eef3967 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/RunWinchContinuous.java
@@ -23,6 +23,7 @@ public class RunWinchContinuous extends Command {
   private double motorVal;
 
   public RunWinchContinuous(double motorVal) {
+    requires(Robot.getClimber());
     this.motorVal = motorVal;
   }
 
diff --git a/src/org/usfirst/frc/team3501/robot/commands/climber/StopWinch.java b/src/org/usfirst/frc/team3501/robot/commands/climber/StopWinch.java
index 903f22b..892d2dd 100644
--- a/src/org/usfirst/frc/team3501/robot/commands/climber/StopWinch.java
+++ b/src/org/usfirst/frc/team3501/robot/commands/climber/StopWinch.java
@@ -15,6 +15,8 @@ import edu.wpi.first.wpilibj.command.Command;
 public class StopWinch extends Command {
 
   public StopWinch() {
+    requires(Robot.getClimber());
+
   }
 
   @Override
diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java b/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
index 9dd7361..3d49f90 100644
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Climber.java
@@ -1,10 +1,17 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
-public class Climber {
+import org.usfirst.frc.team3501.robot.Constants;
+
+import com.ctre.CANTalon;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+public class Climber extends Subsystem {
   private static Climber climber;
+  private final CANTalon motor;
 
   private Climber() {
-
+    motor = new CANTalon(Constants.Climber.MOTOR);
   }
 
   public static Climber getClimber() {
@@ -19,6 +26,7 @@ public class Climber {
   }
 
   public void setMotorValue(final double val) {
+    motor.set(MOTOR);
 
   }
 }
-- 
2.30.2