package com.grt192.benchtest.mechanism;
import com.grt192.actuator.GRTJaguar;
import com.grt192.core.Mechanism;
/**
*
* @author anand
*/
public class BenchFinaleMechanism extends Mechanism {
private GRTJaguar leftMotor;
private GRTJaguar rightMotor;
private boolean debug;
public BenchFinaleMechanism(int left, int right, boolean debug) {
leftMotor = new GRTJaguar(left);
leftMotor.start();
rightMotor = new GRTJaguar(right);
rightMotor.start();
this.debug = debug;
}
public void extend() {
extend(1.0);
}
public void extend(double speed) {
if (debug) {
System.out.println("F F");
}
leftMotor.enqueueCommand(speed);
rightMotor.enqueueCommand(speed);
}
public void retract(double speed) {
if (debug) {
System.out.println("F R");
}
leftMotor.enqueueCommand(-speed);
rightMotor.enqueueCommand(-speed);
}
public void retract() {
retract(1.0);
}
public void stop() {
if (debug) {
System.out.println("F S");
}
leftMotor.enqueueCommand(0);
rightMotor.enqueueCommand(0);
}
}