Add testing stuff

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / Scaler.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
index 09f73021d0b34a19464119ed94734d7ff3fd3785..283b1e6c848ad8a0d69d7d19fbc28a8bdfc402ee 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -8,40 +8,25 @@ import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 public class Scaler extends Subsystem {
-  private DoubleSolenoid piston;
+  private DoubleSolenoid scaler;
   private CANTalon winch;
 
   public Scaler() {
-    piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL,
+    scaler = new DoubleSolenoid(9, Constants.Scaler.FORWARD_CHANNEL,
         Constants.Scaler.REVERSE_CHANNEL);
     winch = new CANTalon(Constants.Scaler.WINCH_MOTOR);
-
   }
 
-<<<<<<< 39cd129b533ffb726c00d5d5cd98b541a25d23bd
-  public void setPistonStatus(int status) {
-
-  }
-
-=======
->>>>>>> Add set motor speed methods in defense arm and add potentiometer getter methods
   public Value getSolenoidValue() {
-    return piston.get();
+    return scaler.get();
   }
 
   public void liftScissorLift() {
-    piston.set(DoubleSolenoid.Value.kReverse);
+    scaler.set(DoubleSolenoid.Value.kReverse);
   }
 
   public void lowerScissorLift() {
-    piston.set(DoubleSolenoid.Value.kForward);
-  }
-
-  public void engageHook() {
-
-  }
-
-  public void disengageHook() {
+    scaler.set(DoubleSolenoid.Value.kForward);
   }
 
   public void runWinch(double speed) {
@@ -53,52 +38,12 @@ public class Scaler extends Subsystem {
     winch.set(speed);
   }
 
-<<<<<<< 39cd129b533ffb726c00d5d5cd98b541a25d23bd
-=======
-  /***
-   * This method returns boolean value true or false on whether piston is
-   * extended or not.
-   * 
-   * @return
-   *         returns true if piston is extended, false if otherwise.
-   */
-  public boolean getPistonStatus() {
-    return true;
+  public void stopWinch() {
+    runWinch(Constants.Scaler.WINCH_STOP_SPEED);
   }
 
-  /***
-   * This method sets the motor voltage for the scissor lift. The range is from
-   * [-1, 1].
-   *
-   * @param speed
-   *          The voltage that you set the motor at. The range of the voltage of
-   *          the motor is from [-1,1].
-   */
-  public void setScalarSpeed(double speed) {
-
-  }
-
-  /***
-   * This method sets the piston status for the scissor lift.
-   * The piston can either be extended or not extended.
-   * 
-   * @param status
-   *          The status of the piston.
-   *          0 for the piston to be extended, 1 for the piston to not be
-   *          extended.
-   */
-
-  public void setPistonStatus(int status) {
-
-  }
-
->>>>>>> Add set motor speed methods in defense arm and add potentiometer getter methods
   @Override
   protected void initDefaultCommand() {
 
   }
-<<<<<<< 39cd129b533ffb726c00d5d5cd98b541a25d23bd
-=======
-
->>>>>>> Add set motor speed methods in defense arm and add potentiometer getter methods
 }