1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
5 import edu
.wpi
.first
.wpilibj
.CANTalon
;
6 import edu
.wpi
.first
.wpilibj
.DoubleSolenoid
;
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 DoubleSolenoid leftIntake
, rightIntake
;
25 public static double moveIntakeArmSpeed
= 0;
28 intakeRoller
= new CANTalon(Constants
.IntakeArm
.INTAKE_ROLLER_PORT
);
30 leftIntake
= new DoubleSolenoid(Constants
.IntakeArm
.LEFT_INTAKE_MODULE
,
31 Constants
.IntakeArm
.LEFT_INTAKE_FORWARD
,
32 Constants
.IntakeArm
.LEFT_INTAKE_REVERSE
);
34 rightIntake
= new DoubleSolenoid(Constants
.IntakeArm
.RIGHT_INTAKE_MODULE
,
35 Constants
.IntakeArm
.RIGHT_INTAKE_FORWARD
,
36 Constants
.IntakeArm
.RIGHT_INTAKE_REVERSE
);
39 public void retractPistons() {
40 leftIntake
.set(Constants
.IntakeArm
.RETRACT
);
41 rightIntake
.set(Constants
.IntakeArm
.RETRACT
);
44 public void extendPistons() {
45 leftIntake
.set(Constants
.IntakeArm
.EXTEND
);
46 rightIntake
.set(Constants
.IntakeArm
.EXTEND
);
50 * This method sets the voltage of the motor to intake the ball. The voltage
51 * values are constants in Constants class
53 public void intakeBall() {
54 intakeRoller
.set(Constants
.IntakeArm
.INTAKE_SPEED
);
58 * This method sets the voltage of the motor to output the ball. The voltage
59 * values are constants in Constants class
61 public void outputBall() {
62 intakeRoller
.set(Constants
.IntakeArm
.OUTPUT_SPEED
);
65 public void stopRollers() {
70 * This method gets you the current voltage of the motor that controls the
71 * intake arm roller. The range of voltage is from [-1,1]. A negative voltage
72 * makes the motor run backwards.
74 * @return Returns the voltage of the motor that controls the roller. The
75 * range of the voltage goes from [-1,1]. A negative voltage indicates
76 * that the motor is running backwards.
79 public double getRollerVoltage() {
80 return intakeRoller
.get();
84 * This method checks to see if the presence of the ball inside is true or
87 * @return Returns whether the ball is inside as true or false
90 public boolean isBallInside() {
95 * This method checks to see if the motors controlling the rollers are
98 * @return Returns whether the motors are currently running, and returns the
99 * state of the condition (true or false).
103 public boolean areRollersRolling() {
104 if (Math
.abs(getRollerVoltage()) < 0.02)
110 protected void initDefaultCommand() {