/*
* Luminary Micro Jaguar Speed Controller
* Reviewed AG 11/2/2009 -- OK
*/
package com.grt192.actuator;
import com.grt192.core.Actuator;
import com.grt192.core.Command;
import edu.wpi.first.wpilibj.Jaguar;
import edu.wpi.first.wpilibj.PIDOutput;
/**
*
* @author Student
*/
public class GRTJaguar extends Actuator implements PIDOutput{
private Jaguar jaguar;
public GRTJaguar(int channel) {
jaguar = new Jaguar(channel);
}
public void executeCommand(Command c) {
double value = c.getValue();
if (value > 1.0) {
value = 1.0;
}
if(value < -1.0) {
value = -1.0;
}
jaguar.set(value);
}
public void halt() {
//Sets motor speed to 0;
jaguar.set(0);
}
public String toString() {
return "Jaguar";
}
public void pidWrite(double output){
this.enqueueCommand(output);
}
}