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org.usfirst.frc.team3695.robot.subsystems.SubsystemClamp   A

↳ Parent: Project

Complexity

Total Complexity 6

Size/Duplication

Total Lines 28
Duplicated Lines 0 %

Importance

Changes 0
Metric Value
wmc 6
c 0
b 0
f 0
dl 0
loc 28
rs 10

8 Methods

Rating   Name   Duplication   Size   Complexity  
A initDefaultCommand() 0 1 1
A SubsystemClamp() 0 4 1
A openArms() 0 4 1
openArms 0 4 ?
toggleArms 0 2 ?
A toggleArms() 0 2 2
closeArms 0 4 ?
A closeArms() 0 4 1
1 
package org.usfirst.frc.team3695.robot.subsystems;
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import org.usfirst.frc.team3695.robot.Constants;


            


            
                                                                                                            
                            
            
                                    
            
            

                
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import edu.wpi.first.wpilibj.Solenoid;


            


            
                                                                                                            
                            
            
                                    
            
            

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


            


            
                                                                                                            
                            
            
                                    
            
            

                
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/**


            


            
                                                                                                            
                            
            
                                    
            
            

                
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 * opens and closes the clamp part of the manipulator


            


            
                                                                                                            
                                                                
            
                                    
            
            

                
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 */


            


            
                                                                        
                            
            
                                    
            
            

                
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public class SubsystemClamp extends Subsystem {


            


            
                                                                        
                            
            
                                    
            
            

                
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	private Solenoid openArms;


            


                            

                    
                        
                    
                    
                    
                    
                                                                                                    
                        

                            
                            
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Fields and methods should not have conflicting names like openArms. While this is technically legal it can lead to misunderstandings and problems with serialization.
                                                                                                

                    
                                                    

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	private Solenoid closeArms;


            


                            

                    
                        
                    
                    
                    
                    
                                                                                                    
                        

                            
                            
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Fields and methods should not have conflicting names like closeArms. While this is technically legal it can lead to misunderstandings and problems with serialization.
                                                                                                

                    
                                                    

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


            


            
                                                                        
                            
            
                                    
            
            

                
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	public SubsystemClamp(){


            


            
                                                                        
                            
            
                                    
            
            

                
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		openArms = new Solenoid(Constants.OPEN_ARMS);


            


            
                                                                        
                            
            
                                    
            
            

                
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		closeArms = new Solenoid(Constants.CLOSE_ARMS);


            


            
                                                                        
                            
            
                                    
            
            

                
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		open = false;


            


            
                                                                        
                            
            
                                    
            
            

                
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	} 


            


            
                                                                        
                            
            
                                    
            
            

                
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    public void initDefaultCommand() {}


            


            
                                                                        
                            
            
                                    
            
            

                
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    public void openArms(){


            


            
                                                                        
                            
            
                                    
            
            

                
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    	openArms.set(true);


            


            
                                                                        
                            
            
                                    
            
            

                
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    	closeArms.set(false);


            


            
                                                                        
                            
            
                                    
            
            

                
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    	open = true;


            


            
                                                                        
                            
            
                                    
            
            

                
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    }


            


            
                                                                        
                            
            
                                    
            
            

                
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    public void closeArms(){


            


            
                                                                        
                            
            
                                    
            
            

                
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    	openArms.set(false);


            


            
                                                                        
                            
            
                                    
            
            

                
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    	closeArms.set(true);


            


            
                                                                        
                            
            
                                    
            
            

                
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    	open = false;


            


            
                                                                        
                            
            
                                    
            
            

                
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    }


            


            
                                                                        
                            
            
                                    
            
            

                
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    public void toggleArms(){


            


            
                                                                        
                            
            
                                    
            
            

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


            


            
                                                                                                            
                            
            
                                    
            
            

                
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    }


            


            
                                                                                                            
                            
            
                                    
            
            

                
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}


            


            
                                                                                                            
                                                                
            
                                    
            
            

                
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