1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
5 import edu
.wpi
.first
.wpilibj
.AnalogPotentiometer
;
6 import edu
.wpi
.first
.wpilibj
.CANTalon
;
7 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
10 * The IntakeArm consists of two rollers that are controlled by one motor, with
11 * a potentiometer on it.
13 * The motor controls the rollers, making them roll forwards and backwards. The
14 * Intake rollers are on the back of the robot. As the rollers run, they intake
21 public class IntakeArm
extends Subsystem
{
23 private CANTalon intakeRoller
;
24 private CANTalon intakeArm
;
25 private AnalogPotentiometer intakePot
;
26 public static double[] potAngles
= { 0, 30, 45, 90 }; // TODO: correct angles
27 public static double moveIntakeArmSpeed
= 0;
30 intakeRoller
= new CANTalon(Constants
.IntakeArm
.ROLLER_PORT
);
31 intakeArm
= new CANTalon(Constants
.IntakeArm
.ARM_PORT
);
32 intakePot
= new AnalogPotentiometer(Constants
.IntakeArm
.POT_CHANNEL
,
33 Constants
.IntakeArm
.FULL_RANGE
, Constants
.IntakeArm
.OFFSET
);
37 * This method sets the voltage of the motor to intake the ball. The voltage
38 * values are constants in Constants class
40 public void intakeBall() {
41 intakeRoller
.set(Constants
.IntakeArm
.INTAKE_SPEED
);
45 * This method sets the voltage of the motor to output the ball. The voltage
46 * values are constants in Constants class
48 public void outputBall() {
49 intakeRoller
.set(Constants
.IntakeArm
.OUTPUT_SPEED
);
52 public void stopRollers() {
57 * This method gets you the current voltage of the motor that controls the
58 * intake arm roller. The range of voltage is from [-1,1]. A negative voltage
59 * makes the motor run backwards.
61 * @return Returns the voltage of the motor that controls the roller. The
62 * range of the voltage goes from [-1,1]. A negative voltage indicates
63 * that the motor is running backwards.
66 public double getRollerVoltage() {
67 return intakeRoller
.get();
71 * This method sets the voltage of the arm motor. The range is from [-1,1]. A
72 * negative voltage makes the direction of the motor go backwards.
75 * The voltage that you set the motor at. The range of the voltage of
76 * the arm motor is from [-1,1]. A negative voltage makes the
77 * direction of the motor go backwards.
80 public void setArmSpeed(double voltage
) {
83 else if (voltage
< -1)
86 intakeArm
.set(voltage
);
90 * This method gets you the current voltage of the motor that controls the
91 * intake arm. The range of voltage is from [-1,1]. A negative voltage makes
92 * the motor run backwards.
94 * @return Returns the voltage of the motor that controls the arm. The range
95 * of the voltage goes from [-1,1]. A negative voltage indicates that
96 * the motor is running backwards.
99 public double getArmSpeed() {
100 return intakeArm
.get();
104 * This method checks to see if the presence of the ball inside is true or
107 * @return Returns whether the ball is inside as true or false
110 public boolean isBallInside() {
115 * This method checks to see if the motors controlling the rollers are
118 * @return Returns whether the motors are currently running, and returns the
119 * state of the condition (true or false).
123 public boolean areRollersRolling() {
124 if (Math
.abs(getRollerVoltage()) < 0.02)
130 * This method gets the angle of the potentiometer on the Intake Arm.
132 * @return angle of potentiometer
135 public double getArmAngle() {
136 return intakePot
.get() + Constants
.IntakeArm
.ZERO_ANGLE
;
143 public double getAngleForLevel(double targetLevel
) {
144 return potAngles
[(int) (targetLevel
- 1)];
148 protected void initDefaultCommand() {