Total Complexity | 6 |
Total Lines | 27 |
Duplicated Lines | 0 % |
Changes | 0 |
1 | package org.usfirst.frc.team3695.robot.subsystems; |
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11 | public class SubsystemClamp extends Subsystem { |
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12 | private Solenoid openArms; |
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13 | private Solenoid closeArms; |
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14 | private boolean open; // current State of arms; true = open, false = closed |
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15 | |||
16 | public SubsystemClamp(){ |
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17 | openArms = new Solenoid(Constants.OPEN_ARMS); |
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18 | closeArms = new Solenoid(Constants.CLOSE_ARMS); |
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19 | open = false; |
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20 | } |
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21 | |||
22 | public void initDefaultCommand() {} |
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23 | |||
24 | public void openArms(){ |
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25 | openArms.set(true); |
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26 | closeArms.set(false); |
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27 | open = true; |
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28 | } |
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29 | |||
30 | public void closeArms(){ |
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31 | openArms.set(false); |
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32 | closeArms.set(true); |
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33 | open = false; |
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34 | } |
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35 | |||
36 | public void toggleArms(){ |
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37 | if (open) closeArms(); else openArms(); |
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38 | } |
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41 |