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 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 }