wh1ter0se / PowerUp-2018

import org.usfirst.frc.team3695.robot.Constants;

import edu.wpi.first.wpilibj.Solenoid;

import edu.wpi.first.wpilibj.command.Subsystem;

/**

 * opens and closes the clamp part of the manipulator

 */

public class SubsystemClamp extends Subsystem {

	private boolean open; // current State of arms; true = open, false = closed

	public SubsystemClamp(){

		openArms = new Solenoid(Constants.OPEN_ARMS);

		closeArms = new Solenoid(Constants.CLOSE_ARMS);

		open = false;

	}

    public void initDefaultCommand() {}

    public void closeArms(){

    	openArms.set(false);

    	closeArms.set(true);

    	open = false;

    }

    public void toggleArms(){

    	if (open) closeArms();	else openArms();

    }

}