add claw toggle and winch tensioning

[3501/3501-spark-go] / src / org / usfirst / frc / team3501 / robot / subsystems / Claw.java

package org.usfirst.frc.team3501.robot.subsystems;

import org.usfirst.frc.team3501.robot.RobotMap;

import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.command.Subsystem;

public class Claw extends Subsystem {

    private DoubleSolenoid piston;

    public Claw() {
        piston = new DoubleSolenoid(
                RobotMap.CLAW_FORWARD_CHANNEL, RobotMap.CLAW_REVERSE_CHANNEL);
    }

    public void open() {
        piston.set(RobotMap.OPEN);
    }

    public void close() {
        piston.set(RobotMap.CLOSED);
    }

    public boolean isOpen() {
        return piston.get().equals(RobotMap.OPEN);
    }

    public boolean isClosed() {
        return piston.get().equals(RobotMap.CLOSED);
    }

    public void initDefaultCommand() {}
}