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package edu.stuy.subsystems;
import edu.stuy.RobotMap;
import edu.wpi.first.wpilibj.Solenoid;
import edu.wpi.first.wpilibj.command.Subsystem;
/**
*
* @author Kevin Wang
*/
public class Tusks extends Subsystem {
Solenoid solenoidExtend;
Solenoid solenoidRetract;
// Put methods for controlling this subsystem
// here. Call these from Commands.
public Tusks() {
// In "2nd" cRio slot, or 4th physical
solenoidExtend = new Solenoid(2, RobotMap.TUSKS_SOLENOID_EXTEND);
solenoidRetract = new Solenoid(2, RobotMap.TUSKS_SOLENOID_RETRACT);
}
public void initDefaultCommand() {
// Set the default command for a subsystem here.
//setDefaultCommand(new MySpecialCommand());
}
public void extend() {
solenoidExtend.set(true);
solenoidRetract.set(false);
}
public void retract() {
solenoidRetract.set(true);
solenoidExtend.set(false);
}
public boolean isExtended() {
return solenoidExtend.get();
}
}