rename SetWinchSpeed to RunWinchContinuous and add new condition to end() to stop...

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / Scaler.java

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

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

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

public class Scaler extends Subsystem {
  private DoubleSolenoid piston;
  private CANTalon winch;

  public Scaler() {
    piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL,
        Constants.Scaler.REVERSE_CHANNEL);
    winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
  }

  public Value getSolenoidValue() {
    return piston.get();
  }

  public void liftScissorLift() {
    piston.set(DoubleSolenoid.Value.kReverse);
  }

  public void lowerScissorLift() {
    piston.set(DoubleSolenoid.Value.kForward);
  }

  public void engageHook() {

  }

  public void disengageHook() {
  }

  public void runWinch(double speed) {
    if (speed > 1)
      speed = 1;
    if (speed < -1)
      speed = -1;

    winch.set(speed);
  }

  /***
   * This method returns boolean value true or false on whether piston is
   * extended or not.
   *
   * @return returns true if piston is extended, false if otherwise.
   */
  public boolean getPistonStatus() {
    return true;
  }

  /***
   * This method sets the piston status for the scissor lift. The piston can
   * either be extended or not extended.
   *
   * @param status
   *          The status of the piston. 0 for the piston to be extended, 1 for
   *          the piston to not be extended.
   */

  public void setPistonStatus(int status) {

  }

  @Override
  protected void initDefaultCommand() {

  }
}