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   public Value getSolenoidValue() {
  21     return piston.get();
  22   }
  23
  24   public void liftScissorLift() {
  25     piston.set(DoubleSolenoid.Value.kReverse);
  26   }
  27
  28   public void lowerScissorLift() {
  29     piston.set(DoubleSolenoid.Value.kForward);
  30   }
  31
  32   public void engageHook() {
  33
  34   }
  35
  36   public void disengageHook() {
  37   }
  38
  39   public void runWinch(double speed) {
  40     if (speed > 1)
  41       speed = 1;
  42     if (speed < -1)
  43       speed = -1;
  44
  45     winch.set(speed);
  46   }
  47
  48   /***
  49    * This method returns boolean value true or false on whether piston is
  50    * extended or not.
  51    *
  52    * @return
  53    *         returns true if piston is extended, false if otherwise.
  54    */
  55   public boolean getPistonStatus() {
  56     return true;
  57   }
  58
  59   /***
  60    * This method sets the motor voltage for the scissor lift. The range is from
  61    * [-1, 1].
  62    *
  63    * @param speed
  64    *          The voltage that you set the motor at. The range of the voltage of
  65    *          the motor is from [-1,1].
  66    */
  67   public void setScalarSpeed(double speed) {
  68
  69   }
  70
  71   /***
  72    * This method sets the piston status for the scissor lift.
  73    * The piston can either be extended or not extended.
  74    *
  75    * @param status
  76    *          The status of the piston.
  77    *          0 for the piston to be extended, 1 for the piston to not be
  78    *          extended.
  79    */
  80
  81   public void setPistonStatus(int status) {
  82
  83   }
  84
  85   @Override
  86   protected void initDefaultCommand() {
  87
  88   }
  89 }