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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.ButtonCommandSpit;
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import org.usfirst.frc.team3695.robot.commands.ManualCommandDrive;
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import org.usfirst.frc.team3695.robot.enumeration.Direction;
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import org.usfirst.frc.team3695.robot.util.Util;
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import org.usfirst.frc.team3695.robot.util.Xbox;
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import com.ctre.CANTalon;
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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 SubsystemManipulator extends Subsystem {
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private TalonSRX armLeft;
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private TalonSRX armRight;
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/** runs at robot boot */
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public void initDefaultCommand() {}
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/** gives birth to the CANTalons */
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public SubsystemManipulator(){
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armLeft = new TalonSRX(Constants.LEFT_ARM);
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armRight = new TalonSRX(Constants.LEFT_ARM);
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}
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/** eat the power cube */
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public void eat(double speed) {
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speed *= -1;
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armLeft.set(ControlMode.PercentOutput, speed);
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armRight.set(ControlMode.PercentOutput, speed);
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}
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/** spit out the power cube */
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public void spit(double speed) {
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armLeft.set(ControlMode.PercentOutput, speed);
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armRight.set(ControlMode.PercentOutput, speed);
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}
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/** STOP SPINNING ME RIGHT ROUND, BABY RIGHT ROUND */
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public void stopSpinning() {
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armLeft.set(ControlMode.PercentOutput, 0);
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armRight.set(ControlMode.PercentOutput, 0);
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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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