+ public void stopRollers() {
+ intakeRoller.set(0);
+ }
+
+ /***
+ * This method gets you the current voltage of the motor that controls the
+ * intake arm roller. The range of voltage is from [-1,1]. A negative voltage
+ * makes the motor run backwards.
+ *
+ * @return Returns the voltage of the motor that controls the roller. The
+ * range of the voltage goes from [-1,1]. A negative voltage indicates
+ * that the motor is running backwards.
+ */
+
+ public double getRollerVoltage() {
+ return intakeRoller.get();
+ }
+
+ /***
+ * This method checks to see if the presence of the ball inside is true or
+ * false.
+ *
+ * @return Returns whether the ball is inside as true or false
+ */
+
+ public boolean isBallInside() {
+ return true;
+ }
+
+ /***
+ * This method checks to see if the motors controlling the rollers are
+ * currently running.
+ *
+ * @return Returns whether the motors are currently running, and returns the
+ * state of the condition (true or false).
+ *
+ */
+
+ public boolean areRollersRolling() {
+ if (Math.abs(getRollerVoltage()) < 0.02)
+ return false;
+ return true;