Commit | Line | Data |
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31f6cd19 | 1 | package org.usfirst.frc.team3501.robot.subsystems; |
15651225 | 2 | |
31f6cd19 K |
3 | import org.usfirst.frc.team3501.robot.Constants; |
4 | ||
cb16c238 | 5 | import edu.wpi.first.wpilibj.CANTalon; |
31f6cd19 K |
6 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
7 | import edu.wpi.first.wpilibj.DoubleSolenoid.Value; | |
8 | import edu.wpi.first.wpilibj.command.Subsystem; | |
9 | ||
10 | public class Scaler extends Subsystem { | |
15651225 K |
11 | private DoubleSolenoid piston; |
12 | private CANTalon winch; | |
13 | ||
14 | public Scaler() { | |
15 | piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL, | |
16 | Constants.Scaler.REVERSE_CHANNEL); | |
17 | winch = new CANTalon(Constants.Scaler.WINCH_MOTOR); | |
ae33aa8d | 18 | |
15651225 K |
19 | } |
20 | ||
4f1eb45e | 21 | <<<<<<< 39cd129b533ffb726c00d5d5cd98b541a25d23bd |
ae33aa8d | 22 | public void setPistonStatus(int status) { |
15651225 K |
23 | |
24 | } | |
25 | ||
4f1eb45e SC |
26 | ======= |
27 | >>>>>>> Add set motor speed methods in defense arm and add potentiometer getter methods | |
15651225 K |
28 | public Value getSolenoidValue() { |
29 | return piston.get(); | |
30 | } | |
31 | ||
32 | public void liftScissorLift() { | |
33 | piston.set(DoubleSolenoid.Value.kReverse); | |
34 | } | |
35 | ||
36 | public void lowerScissorLift() { | |
37 | piston.set(DoubleSolenoid.Value.kForward); | |
38 | } | |
ae33aa8d | 39 | |
05fc6bf5 | 40 | public void engageHook() { |
ae33aa8d | 41 | |
05fc6bf5 | 42 | } |
15651225 K |
43 | |
44 | public void disengageHook() { | |
45 | } | |
46 | ||
47 | public void runWinch(double speed) { | |
48 | if (speed > 1) | |
49 | speed = 1; | |
50 | if (speed < -1) | |
51 | speed = -1; | |
52 | ||
53 | winch.set(speed); | |
54 | } | |
ae33aa8d | 55 | |
4f1eb45e SC |
56 | <<<<<<< 39cd129b533ffb726c00d5d5cd98b541a25d23bd |
57 | ======= | |
58 | /*** | |
59 | * This method returns boolean value true or false on whether piston is | |
60 | * extended or not. | |
61 | * | |
62 | * @return | |
63 | * returns true if piston is extended, false if otherwise. | |
64 | */ | |
65 | public boolean getPistonStatus() { | |
66 | return true; | |
67 | } | |
68 | ||
69 | /*** | |
70 | * This method sets the motor voltage for the scissor lift. The range is from | |
71 | * [-1, 1]. | |
72 | * | |
73 | * @param speed | |
74 | * The voltage that you set the motor at. The range of the voltage of | |
75 | * the motor is from [-1,1]. | |
76 | */ | |
77 | public void setScalarSpeed(double speed) { | |
78 | ||
79 | } | |
80 | ||
81 | /*** | |
82 | * This method sets the piston status for the scissor lift. | |
83 | * The piston can either be extended or not extended. | |
84 | * | |
85 | * @param status | |
86 | * The status of the piston. | |
87 | * 0 for the piston to be extended, 1 for the piston to not be | |
88 | * extended. | |
89 | */ | |
90 | ||
91 | public void setPistonStatus(int status) { | |
92 | ||
93 | } | |
94 | ||
95 | >>>>>>> Add set motor speed methods in defense arm and add potentiometer getter methods | |
ae33aa8d SC |
96 | @Override |
97 | protected void initDefaultCommand() { | |
98 | ||
99 | } | |
4f1eb45e SC |
100 | <<<<<<< 39cd129b533ffb726c00d5d5cd98b541a25d23bd |
101 | ======= | |
102 | ||
103 | >>>>>>> Add set motor speed methods in defense arm and add potentiometer getter methods | |
31f6cd19 | 104 | } |