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   public void stopWinch() {
  49     runWinch(Constants.Scaler.WINCH_STOP_SPEED);
  50   }
  51
  52   /***
  53    * This method returns boolean value true or false on whether piston is
  54    * extended or not.
  55    *
  56    * @return returns true if piston is extended, false if otherwise.
  57    */
  58   public boolean getPistonStatus() {
  59     return true;
  60   }
  61
  62   /***
  63    * This method sets the piston status for the scissor lift. The piston can
  64    * either be extended or not extended.
  65    *
  66    * @param status
  67    *          The status of the piston. 0 for the piston to be extended, 1 for
  68    *          the piston to not be extended.
  69    */
  70
  71   public void setPistonStatus(int status) {
  72
  73   }
  74
  75   @Override
  76   protected void initDefaultCommand() {
  77
  78   }
  79 }