Pneumatics

FRC-4509-MechBulls · Feb 20, 2024 · 71b4e94 · 71b4e94
1 parent 008251c
commit 71b4e94
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/ClimbSubsystem.java b/src/main/java/frc/robot/subsystems/ClimbSubsystem.java
@@ -4,6 +4,8 @@
 import com.revrobotics.ControlType;
 import com.revrobotics.SparkPIDController;
 import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Robot;
 import frc.robot.StateControllerSub;
@@ -57,7 +59,9 @@ public ClimbSubsystem(StateControllerSub stateControllerSub) {
         climbFollower.burnFlash();
     }
 
+    private final Solenoid m_solenoid = new Solenoid(PneumaticsModuleType.REVPH, 0);
 
+    static final double maxClawDistanceMeters = 0.50;//TODO: find this
     double setpointMeters = 0.0;//bottom
     double simMeters = 0.0;
 
@@ -94,10 +98,10 @@ public double getClawPosition(){
     }
 
     void extendPneumatic(){
-        //TODO: make arm go to stowed position
+        m_solenoid.set(true);
     }
     void retractPneumatic(){
-        //TODO: make arm go to ready position
+        m_solenoid.set( false);
     }
 
     void extendClaw(){