Merge branch 'master' into auto-placement

src/main/java/frc4388/robot/subsystems/Claw.java

@@ -1,21 +1,46 @@
 package frc4388.robot.subsystems;
+
+import java.util.Timer;
+import java.util.TimerTask;
+
+import com.revrobotics.CANSparkMax;
+
 import edu.wpi.first.wpilibj.PWM;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Claw extends SubsystemBase {
-	private PWM m_clawMotor;
-	private boolean m_open     = false;
+
+	private final PWM         m_leftMotor;
+	private final PWM         m_rightMotor;
+	private final CANSparkMax m_spinnyspin;
+
+	private boolean m_open = false;
 
     // Opens claw
-	public Claw(PWM m_clawMotor) {
-		 this.m_clawMotor = m_clawMotor;
-		 setClaw(true);
+	public Claw(PWM leftMotor, PWM rightMotor, CANSparkMax spinnyspin) {
+		m_leftMotor  = leftMotor;
+		m_rightMotor = rightMotor;
+		m_spinnyspin = spinnyspin;
+		
+		setClaw(true);
 	}
 
     public void setClaw(boolean open) {
         // Open claw
 		m_open = open;
-		m_clawMotor.setRaw(m_open ? 1000 : 2000);
+		m_leftMotor.setRaw(m_open ? 1000 : 2000);
+		m_rightMotor.setRaw(m_open ? 2000 : 1000);
+
+		if (!m_open) {
+			m_spinnyspin.set(-0.2);
+			
+			new Timer().schedule(new TimerTask() {
+				@Override
+				public void run() {
+					nospinnyspin();
+				}
+			}, 750);
+		}
     }
 
 	public void toggle() {
@@ -26,4 +51,11 @@ public class Claw extends SubsystemBase {
 		return m_open;
 	}
 
+	public void yesspinnyspin() {
+		m_spinnyspin.set(0.2);
+	}
+
+	public void nospinnyspin() {
+		m_spinnyspin.set(0);
+	}
 }