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 import org.usfirst.frc.team3501.robot.Constants;
   3
   4 import edu.wpi.first.wpilibj.DoubleSolenoid;
   5 import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
   6 import edu.wpi.first.wpilibj.command.Subsystem;
   7
   8 public class Scaler extends Subsystem {
   9         //Scaler related objects
  10         private DoubleSolenoid piston;
  11
  12
  13         public Scaler() {
  14                 piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL, Constants.Scaler.REVERSE_CHANNEL);
  15         }
  16
  17         @Override
  18         protected void initDefaultCommand() {
  19
  20         }
  21         public Value getSolenoidValue(){
  22                 return piston.get();
  23         }
  24
  25         public void lift(){
  26                 piston.set(DoubleSolenoid.Value.kReverse);
  27         }
  28
  29         public void lower(){
  30                 piston.set(DoubleSolenoid.Value.kForward);
  31         }
  32
  33         public void disengageHook(){
  34
  35         }
  36
  37         public void runWinch(){
  38
  39         }
  40
  41 }