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package org.usfirst.frc.team3695.robot.subsystems; |
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import org.usfirst.frc.team3695.robot.Constants; |
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import org.usfirst.frc.team3695.robot.commands.ManualCommandHook; |
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import org.usfirst.frc.team3695.robot.util.Xbox; |
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import com.ctre.phoenix.motorcontrol.ControlMode; |
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import com.ctre.phoenix.motorcontrol.can.TalonSRX; |
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import edu.wpi.first.wpilibj.Joystick; |
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import edu.wpi.first.wpilibj.command.Subsystem; |
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/** VROOM VROOM */ |
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public class SubsystemHook extends Subsystem { |
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private TalonSRX hook; |
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/** applies left arm motor invert */ |
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public static final double hookify(double hook) { |
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return hook * (Constants.HOOK_MOTOR_INVERT ? -1.0 : 1.0); |
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} |
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/** runs at robot boot */ |
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public void initDefaultCommand() { |
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setDefaultCommand(new ManualCommandHook()); |
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} |
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/** gives birth to the CANTalons */ |
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public SubsystemHook(){ |
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hook = new TalonSRX(Constants.HOOK); |
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} |
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public void swing(Joystick joy) { |
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double speed = 0; |
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speed = joy.getRawButton(Xbox.A) ? speed++ : speed; |
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speed = joy.getRawButton(Xbox.B) ? speed-- : speed; |
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hook.set(ControlMode.PercentOutput, speed); |
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} |
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/** configures the voltage of each CANTalon */ |
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private void voltage(TalonSRX talon) { |
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// talon.configNominalOutputVoltage(0f, 0f); |
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// talon.configPeakOutputVoltage(12.0f, -12.0f); |
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// talon.enableCurrentLimit(true); |
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// talon.configContinuousCurrentLimit(30, 3000); |
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} |
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} |
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wh1ter0se /
PowerUp-2018
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