From e9fc3354d8cbfea29a8ade3a5c2de8af2633b8e5 Mon Sep 17 00:00:00 2001
From: 66945 <54561572+66945@users.noreply.github.com>
Date: Wed, 26 Jan 2022 17:41:52 -0700
Subject: [PATCH] Switched hook motors

---
 .../java/frc4388/robot/subsystems/Hooks.java  | 25 ++++---
 vendordeps/REVLib.json                        | 73 +++++++++++++++++++
 2 files changed, 88 insertions(+), 10 deletions(-)
 create mode 100644 vendordeps/REVLib.json

diff --git a/src/main/java/frc4388/robot/subsystems/Hooks.java b/src/main/java/frc4388/robot/subsystems/Hooks.java
index 555bec2..8eb2dfd 100644
--- a/src/main/java/frc4388/robot/subsystems/Hooks.java
+++ b/src/main/java/frc4388/robot/subsystems/Hooks.java
@@ -1,31 +1,36 @@
 package frc4388.robot.subsystems;
 
-import edu.wpi.first.wpilibj.Servo;
+import com.revrobotics.CANSparkMax;
+
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.HooksConstants;
 
 public class Hooks extends SubsystemBase {
-  private Servo m_leftHook;
-  private Servo m_rightHook;
+  private CANSparkMax m_leftHook;
+  private CANSparkMax m_rightHook;
+
+  double m_leftOffset;
+  double m_rightOffset;
 
   private boolean m_open;
 
-  public Hooks(Servo leftHook, Servo rightHook) {
+  public Hooks(CANSparkMax leftHook, CANSparkMax rightHook) {
     m_leftHook = leftHook;
     m_rightHook = rightHook;
 
-    m_open = false;
-    setOpen(m_open);
+    setOpen(false);
   }
 
   public void setOpen(boolean open) {
     if(open) {
-      m_leftHook.setPosition(HooksConstants.OPEN_POSITION);
-      m_rightHook.setPosition(HooksConstants.OPEN_POSITION);
+      m_leftHook.getEncoder().setPosition(HooksConstants.OPEN_POSITION + m_leftOffset);
+      m_rightHook.getEncoder().setPosition(HooksConstants.OPEN_POSITION + m_rightOffset);
     } else {
-      m_leftHook.setPosition(HooksConstants.CLOSE_POSITION);
-      m_rightHook.setPosition(HooksConstants.CLOSE_POSITION);
+      m_leftHook.getEncoder().setPosition(HooksConstants.CLOSE_POSITION + m_leftOffset);
+      m_rightHook.getEncoder().setPosition(HooksConstants.CLOSE_POSITION + m_rightOffset);
     }
+
+    m_open = open;
   }
 
   public boolean getOpen() {
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
new file mode 100644
index 0000000..997e2a4
--- /dev/null
+++ b/vendordeps/REVLib.json
@@ -0,0 +1,73 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2022.1.1",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2022.1.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2022.1.1",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian",
+                "osxx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2022.1.1",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2022.1.1",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian",
+                "osxx86-64"
+            ]
+        }
+    ]
+}
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