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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.commands.ManualCommandGrow;
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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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/** the big, metal pole */
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public class SubsystemMast extends Subsystem {
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private TalonSRX pinionMast;
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private TalonSRX screwMast;
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/** runs at robot boot */
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public void initDefaultCommand() {
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setDefaultCommand(new ManualCommandGrow()); }
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/** gives birth to the CANTalons */
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public SubsystemMast(){
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pinionMast = new TalonSRX(Constants.PINION_MOTOR);
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screwMast = new TalonSRX(Constants.SCREW_MOTOR);
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}
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/** apply screw motor invert */
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public static final double screwify(double right) {
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return right * (Constants.SCREW_MOTOR_INVERT ? -1.0 : 1.0);
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}
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/** apply pinion motor invert */
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public static final double pinionate(double right) {
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return right * (Constants.PINION_MOTOR_INVERT ? -1.0 : 1.0);
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}
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/** raise the mast at RT-LR trigger speed */
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public void moveBySpeed(Joystick joy) {
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double speed = Xbox.RT(joy) - Xbox.LT(joy);
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pinionMast.set(ControlMode.PercentOutput, pinionate(speed));
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screwMast.set(ControlMode.PercentOutput, screwify(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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