| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | |
| 5 | import edu.wpi.first.wpilibj.CANTalon; |
| 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 { |
| 11 | private DoubleSolenoid scaler; |
| 12 | private CANTalon winch; |
| 13 | |
| 14 | public Scaler() { |
| 15 | scaler = new DoubleSolenoid(9, Constants.Scaler.FORWARD_CHANNEL, |
| 16 | Constants.Scaler.REVERSE_CHANNEL); |
| 17 | winch = new CANTalon(Constants.Scaler.WINCH_MOTOR); |
| 18 | } |
| 19 | |
| 20 | public Value getSolenoidValue() { |
| 21 | return scaler.get(); |
| 22 | } |
| 23 | |
| 24 | public void liftScissorLift() { |
| 25 | scaler.set(DoubleSolenoid.Value.kReverse); |
| 26 | } |
| 27 | |
| 28 | public void lowerScissorLift() { |
| 29 | scaler.set(DoubleSolenoid.Value.kForward); |
| 30 | } |
| 31 | |
| 32 | public void runWinch(double speed) { |
| 33 | if (speed > 1) |
| 34 | speed = 1; |
| 35 | if (speed < -1) |
| 36 | speed = -1; |
| 37 | |
| 38 | winch.set(speed); |
| 39 | } |
| 40 | |
| 41 | public void stopWinch() { |
| 42 | runWinch(Constants.Scaler.WINCH_STOP_SPEED); |
| 43 | } |
| 44 | |
| 45 | @Override |
| 46 | protected void initDefaultCommand() { |
| 47 | |
| 48 | } |
| 49 | } |