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   // Scaler related objects
  12   private DoubleSolenoid piston;
  13   private CANTalon winch;
  14
  15   public Scaler() {
  16     piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL,
  17         Constants.Scaler.REVERSE_CHANNEL);
  18     winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
  19   }
  20
  21   @Override
  22   protected void initDefaultCommand() {
  23
  24   }
  25
  26   public Value getSolenoidValue() {
  27     return piston.get();
  28   }
  29
  30   public void liftScissorLift() {
  31     piston.set(DoubleSolenoid.Value.kReverse);
  32   }
  33
  34   public void lowerScissorLift() {
  35     piston.set(DoubleSolenoid.Value.kForward);
  36   }
  37
  38   public void engageHook() {
  39
  40   }
  41
  42   public void disengageHook() {
  43   }
  44
  45   public void runWinch(double speed) {
  46     if (speed > 1)
  47       speed = 1;
  48     if (speed < -1)
  49       speed = -1;
  50
  51     winch.set(speed);
  52   }
  53 }