cbc7ff77362b816e7c31957dde339db0a0437079
1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
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
;
10 public class Scaler
extends Subsystem
{
11 // Scaler related objects
12 private DoubleSolenoid piston
;
13 private CANTalon winch
;
16 piston
= new DoubleSolenoid(Constants
.Scaler
.FORWARD_CHANNEL
,
17 Constants
.Scaler
.REVERSE_CHANNEL
);
18 winch
= new CANTalon(Constants
.Scaler
.WINCH_MOTOR
);
22 protected void initDefaultCommand() {
26 public Value
getSolenoidValue() {
30 public void liftScissorLift() {
31 piston
.set(DoubleSolenoid
.Value
.kReverse
);
34 public void lowerScissorLift() {
35 piston
.set(DoubleSolenoid
.Value
.kForward
);
38 public void engageHook() {
42 public void disengageHook() {
45 public void runWinch(double speed
) {