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Added method to open and close solenoid, started solenoid closed

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This commit is contained in:
Aarav Shah
2020-02-18 19:25:32 -07:00
parent cdf2d64157
commit 14793f3cef
1 changed files with 16 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/Drive.java
+16
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@@ -86,6 +86,8 @@ public class Drive extends SubsystemBase {
m_speedShift = new DoubleSolenoid(7,0,1);
m_coolFalcon = new DoubleSolenoid(7,3,2);
coolFalcon(false);
/* set back motors as followers */
m_leftBackMotor.follow(m_leftFrontMotor);
@@ -634,4 +636,18 @@ public class Drive extends SubsystemBase {
m_speedShift.set(DoubleSolenoid.Value.kReverse);
}
}
/**
* Set to open or close solenoid that cools the falcon, true = open, false = close
* @param state Chooses between open and close
*/
public void coolFalcon(boolean state) {
if (state == true) {
m_coolFalcon.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
}
}
}