create methods for Scaler subsystem

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index f5694c6f59391a4628d11b86a3e120572fe3186e..0cd7a7e9dab1e32acb6fcc2dbc75fd33e380bc55 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -32,6 +32,12 @@ public class Constants {
     public final static int ENCODER_RIGHT_A = 2;
     public final static int ENCODER_RIGHT_B = 1;
   }
+  
+  public static class Scaler {
+         //Piston channels
+         public final static int FORWARD_CHANNEL = 0;
+         public final static int REVERSE_CHANNEL = 0;
+  }
 
   public static class Shooter {
     public static final int PORT = 0;

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
index 183166cf40990f1a9bf12e031b2332fff085d117..97c2e955957aaefac7b8b9964a888ac1477cc537 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Scaler.java
@@ -1,15 +1,41 @@
 package org.usfirst.frc.team3501.robot.subsystems;\r
+import org.usfirst.frc.team3501.robot.Constants;\r
 \r
+import edu.wpi.first.wpilibj.DoubleSolenoid;\r
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;\r
 import edu.wpi.first.wpilibj.command.Subsystem;\r
 \r
 public class Scaler extends Subsystem {\r
-\r
+       //Scaler related objects\r
+       private DoubleSolenoid piston;\r
+       \r
+       \r
        public Scaler() {\r
-\r
+               piston = new DoubleSolenoid(Constants.Scaler.FORWARD_CHANNEL, Constants.Scaler.REVERSE_CHANNEL);\r
        }\r
 \r
        @Override\r
        protected void initDefaultCommand() {\r
 \r
        }\r
+       public Value getSolenoidValue(){\r
+               return piston.get();\r
+       }\r
+       \r
+       public void lift(){\r
+               piston.set(DoubleSolenoid.Value.kReverse);\r
+       }\r
+       \r
+       public void lower(){\r
+               piston.set(DoubleSolenoid.Value.kForward);\r
+       }\r
+       \r
+       public void disengageHook(){\r
+               \r
+       }\r
+       \r
+       public void runWinch(){\r
+               \r
+       }\r
+       \r
 }\r