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7b11350e KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
4 | ||
5 | import edu.wpi.first.wpilibj.CANTalon; | |
6 | import edu.wpi.first.wpilibj.command.Subsystem; | |
7 | ||
8 | public class IntakeArm extends Subsystem { | |
9 | ||
10 | private CANTalon intake; | |
11 | private CANTalon chevalDeFriseHand; | |
12 | ||
13 | public IntakeArm() { | |
14 | intake = new CANTalon(Constants.IntakeArm.PORT); | |
c4e71803 | 15 | chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT); |
7b11350e KZ |
16 | } |
17 | ||
18 | /* | |
19 | * Intake only moves once at the beginning of the match. It lowers at the | |
20 | * beginning of the match and is held there by mechanical stops until the end | |
21 | * of the match. | |
fdde5248 | 22 | * |
7b11350e KZ |
23 | * Must be used in a command that has a timer variable to stop it. |
24 | */ | |
25 | public void dropIntake() { | |
26 | intake.set(0.3); | |
27 | } | |
28 | ||
29 | public void intake() { | |
30 | intake.set(Constants.IntakeArm.INTAKE_SPEED); | |
31 | } | |
32 | ||
33 | public void output() { | |
34 | intake.set(Constants.IntakeArm.OUTPUT_SPEED); | |
35 | } | |
36 | ||
fdde5248 | 37 | /*** |
08d3b5a4 YA |
38 | * This method allows you to set the speed of the motor. The range of speed |
39 | * is from [-1, 1]. A negative speed changes the direction of the motors, | |
40 | * making it run backwards. | |
41 | * | |
fdde5248 YA |
42 | * @param speed |
43 | * The speed of the motors that control the rollers. The range of | |
44 | * these motors go from [-1,1]. A negative speed changes the | |
08d3b5a4 | 45 | * direction of the motors, making it run backwards. |
fdde5248 YA |
46 | */ |
47 | ||
48 | public void setRollerSpeed(double speed) { | |
49 | ||
50 | } | |
51 | ||
52 | /*** | |
08d3b5a4 YA |
53 | * This method gets you the current speed of the motor that controls the |
54 | * motor. The range of speed is from [-1,1]. A negative speed changes the | |
55 | * direction of the motor, making it run backwards. | |
fdde5248 | 56 | * |
08d3b5a4 YA |
57 | * @return Returns the speed of the motor that controls the roller. The range |
58 | * of the motor goes from [-1,1]. A negative speed changes the | |
59 | * direction of the motor, making it go backwards. | |
fdde5248 YA |
60 | */ |
61 | ||
62 | public double getRollerSpeed() { | |
63 | return 0; | |
64 | } | |
65 | ||
66 | /*** | |
08d3b5a4 YA |
67 | * This method checks to see if the motors controlling the rollers are |
68 | * currently working. | |
fdde5248 | 69 | * |
08d3b5a4 YA |
70 | * @return Returns whether the motors are currently running, and returns the |
71 | * state of the condition (true or false). | |
fdde5248 YA |
72 | */ |
73 | ||
74 | public boolean areRollersRolling() { | |
75 | return true; | |
76 | } | |
77 | ||
7b11350e KZ |
78 | @Override |
79 | protected void initDefaultCommand() { | |
80 | ||
81 | } | |
82 | } |