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); | |
15651225 K |
18 | } |
19 | ||
20 | public Value getSolenoidValue() { | |
21 | return piston.get(); | |
22 | } | |
23 | ||
24 | public void liftScissorLift() { | |
25 | piston.set(DoubleSolenoid.Value.kReverse); | |
26 | } | |
27 | ||
28 | public void lowerScissorLift() { | |
29 | piston.set(DoubleSolenoid.Value.kForward); | |
30 | } | |
ae33aa8d | 31 | |
05fc6bf5 | 32 | public void engageHook() { |
ae33aa8d | 33 | |
05fc6bf5 | 34 | } |
15651225 K |
35 | |
36 | public void disengageHook() { | |
37 | } | |
38 | ||
39 | public void runWinch(double speed) { | |
40 | if (speed > 1) | |
41 | speed = 1; | |
42 | if (speed < -1) | |
43 | speed = -1; | |
44 | ||
45 | winch.set(speed); | |
46 | } | |
ae33aa8d | 47 | |
694c9fc9 LM |
48 | public void stopWinch() { |
49 | runWinch(Constants.Scaler.WINCH_STOP_SPEED); | |
50 | } | |
51 | ||
4f1eb45e SC |
52 | /*** |
53 | * This method returns boolean value true or false on whether piston is | |
54 | * extended or not. | |
8e57685f | 55 | * |
60519772 | 56 | * @return returns true if piston is extended, false if otherwise. |
4f1eb45e SC |
57 | */ |
58 | public boolean getPistonStatus() { | |
59 | return true; | |
60 | } | |
61 | ||
62 | /*** | |
60519772 LM |
63 | * This method sets the piston status for the scissor lift. The piston can |
64 | * either be extended or not extended. | |
8e57685f | 65 | * |
4f1eb45e | 66 | * @param status |
60519772 LM |
67 | * The status of the piston. 0 for the piston to be extended, 1 for |
68 | * the piston to not be extended. | |
4f1eb45e SC |
69 | */ |
70 | ||
71 | public void setPistonStatus(int status) { | |
72 | ||
73 | } | |
74 | ||
ae33aa8d SC |
75 | @Override |
76 | protected void initDefaultCommand() { | |
77 | ||
78 | } | |
31f6cd19 | 79 | } |