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   public void setPistonStatus(int status) {
  22
  23   }
  24
  25   public Value getSolenoidValue() {
  26     return piston.get();
  27   }
  28
  29   public void liftScissorLift() {
  30     piston.set(DoubleSolenoid.Value.kReverse);
  31   }
  32
  33   public void lowerScissorLift() {
  34     piston.set(DoubleSolenoid.Value.kForward);
  35   }
  36
  37   public void engageHook() {
  38
  39   }
  40
  41   public void disengageHook() {
  42   }
  43
  44   public void runWinch(double speed) {
  45     if (speed > 1)
  46       speed = 1;
  47     if (speed < -1)
  48       speed = -1;
  49
  50     winch.set(speed);
  51   }
  52
  53   @Override
  54   protected void initDefaultCommand() {
  55
  56   }
  57 }