Commit | Line | Data |
---|---|---|
b449387d LH |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3e4790a8 | 3 | import org.usfirst.frc.team3501.robot.RobotMap; |
f24c549d | 4 | import org.usfirst.frc.team3501.robot.commands.MoveArm; |
3e4790a8 LH |
5 | |
6 | import edu.wpi.first.wpilibj.CANJaguar; | |
b449387d LH |
7 | import edu.wpi.first.wpilibj.command.Subsystem; |
8 | ||
b449387d | 9 | public class Arm extends Subsystem { |
b449387d | 10 | |
3e4790a8 LH |
11 | private CANJaguar left, right; |
12 | ||
13 | public Arm() { | |
14 | left = new CANJaguar(RobotMap.LEFT_WINCH_ADDRESS); | |
15 | right = new CANJaguar(RobotMap.RIGHT_WINCH_ADDRESS); | |
16 | } | |
17 | ||
18 | public void set(double speed) { | |
19 | left.set(-speed); | |
20 | right.set(speed); | |
21 | } | |
22 | ||
f24c549d LH |
23 | public void setFromJoystick(double speed) { |
24 | set(getSpeedFromJoystick(speed)); | |
25 | } | |
26 | ||
3e4790a8 LH |
27 | public void moveLeft(double speed) { |
28 | left.set(speed); | |
29 | right.set(0); | |
b449387d | 30 | } |
3e4790a8 LH |
31 | |
32 | public void moveRight(double speed) { | |
33 | right.set(speed); | |
34 | left.set(0); | |
35 | } | |
36 | ||
3cd438bd | 37 | private double getSpeedFromJoystick(double speed) { |
3e4790a8 LH |
38 | if (Math.abs(speed) < RobotMap.MIN_ARM_JOYSTICK_INPUT) |
39 | speed = 0; | |
40 | ||
41 | return speed; | |
42 | } | |
43 | ||
f24c549d LH |
44 | public void initDefaultCommand() { |
45 | setDefaultCommand(new MoveArm()); | |
46 | } | |
b449387d | 47 | } |