challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java

   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 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);
  18
  19   }
  20
  21 <<<<<<< 39cd129b533ffb726c00d5d5cd98b541a25d23bd
  22   public void setPistonStatus(int status) {
  23
  24   }
  25
  26 =======
  27 >>>>>>> Add set motor speed methods in defense arm and add potentiometer getter methods
  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   }
  39
  40   public void engageHook() {
  41
  42   }
  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   }
  55
  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
  96   @Override
  97   protected void initDefaultCommand() {
  98
  99   }
 100 <<<<<<< 39cd129b533ffb726c00d5d5cd98b541a25d23bd
 101 =======
 102
 103 >>>>>>> Add set motor speed methods in defense arm and add potentiometer getter methods
 104 }