add linear actuator

Author: CoolSpy3

src/main/java/frc/robot/lib/LinearActuator.java

@@ -0,0 +1,34 @@
+package frc.robot.lib;
+
+import edu.wpi.first.wpilibj.PWM;
+
+public class LinearActuator extends PWM {
+
+    private final int minLength, maxLength;
+
+    public LinearActuator(int channel, int minLength, int maxLength) {
+        super(channel);
+        this.minLength = minLength;
+        this.maxLength = maxLength;
+        // Our linear actators accept a pulse between 1ms and 2ms
+        setBounds(2, 0, 0, 0, 1);
+    }
+
+    public void set(double value) {
+        setPosition(value);
+    }
+
+    public void setLength(double length) {
+        // Get the length as a percentage of maxLength
+        set((length - minLength) / (maxLength - minLength));
+    }
+
+    public double getLength() {
+        return get() * (maxLength - minLength) + minLength;
+    }
+
+    public double get() {
+        return getPosition();
+    }
+
+}