format fix

[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 {
	//Scaler related objects
	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);
	}

	@Override
	protected void initDefaultCommand() {

	}
	
	public Value getSolenoidValue(){
		return piston.get();
	}
	
	public void liftScissorLift(){
		piston.set(DoubleSolenoid.Value.kReverse);
	}
	
	public void lowerScissorLift(){
		piston.set(DoubleSolenoid.Value.kForward);
	}
	
	public void disengageHook(){
	}
	
	public void runWinch(double speed){
		if( speed > 1)
			speed = 1;
		if(speed < -1)
			speed = -1;
		
		winch.set(speed);
	}
}