package com.grt192.benchtest.mechanism;
import com.grt192.actuator.GRTJaguar;
import com.grt192.core.Mechanism;
import com.grt192.sensor.GRTSwitch;
/**
*
* @author anand
*/
public class BenchKicker extends Mechanism {
private GRTJaguar motor;
private GRTSwitch limit;
private boolean debug;
public BenchKicker(int port, int limiter, boolean debug){
motor = new GRTJaguar(port);
motor.start();
addActuator("Motor", motor);
limit = new GRTSwitch(limiter, 25, "kickLimit");
limit.start();
addSensor("switch", limit);
this.debug = debug;
}
public void spinForward(){
if(debug)
System.out.println("K FWD");
motor.enqueueCommand(1.0);
}
public void spinReverse(){
if(debug)
System.out.println("K REV");
motor.enqueueCommand(-1.0);
}
public void stop(){
if(debug)
System.out.println("K HALT");
motor.halt();
}
}