-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class IntakeArm extends Subsystem{\r
- \r
- public IntakeArm(){\r
- \r
- }\r
-\r
- @Override\r
- protected void initDefaultCommand() {\r
- // TODO Auto-generated method stub\r
- \r
- }\r
-}\r
+package org.usfirst.frc.team3501.robot.subsystems;
+
+import org.usfirst.frc.team3501.robot.Constants;
+
+import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/***
+ * The IntakeArm consists of two rollers that are controlled by one motor. The
+ * class is deployed using a command that accelerates the robot forward and
+ * gravity pushes the arm down. After the IntakeArm is pushed down by gravity,
+ * the arm remains stationary for the rest of the match.
+ *
+ * The motor controls the rollers, making them roll forwards and backwards.
+ * The Intake rollers are on the back of the robot. As the rollers run, they
+ * intake the ball.
+ *
+ * @author superuser
+ *
+ */
+
+public class IntakeArm extends Subsystem {
+ private CANTalon intake;
+ private CANTalon chevalDeFriseHand;
+
+ public IntakeArm() {
+ intake = new CANTalon(Constants.IntakeArm.PORT);
+ chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT);
+ }
+
+ /*
+ * Intake only moves once at the beginning of the match. It lowers at the
+ * beginning of the match and is held there by mechanical stops until the end
+ * of the match.
+ *
+ * Must be used in a command that has a timer variable to stop it.
+ */
+ public void dropIntake() {
+ intake.set(0.3);
+ }
+
+ public void intake() {
+ intake.set(Constants.IntakeArm.INTAKE_SPEED);
+ }
+
+ public void output() {
+ intake.set(Constants.IntakeArm.OUTPUT_SPEED);
+ }
+
+ /***
+ * This method allows you to set the voltage of the motor. The range of
+ * voltage is from [-1, 1]. A negative voltage makes the motor run backwards.
+ *
+<<<<<<< e3056e0d68d3b4150b81db56c6685c399cb9c37a
+<<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
+ * @param speed
+ * The speed of the motors that control the rollers. The range of
+ * these motors go from [-1,1]. A negative speed changes the
+ * direction of the motors, making it run backwards.
+ * =======
+ * public IntakeArm() {
+ *
+ * }
+ *
+ * /***
+ * This method allows you to set the speed of the motor(s). The range
+ * of speed
+ * is from [-1, 1]. A negative speed changes the direction of the
+ * motors.
+ *
+ * @param speed
+ * The speed of the motors that control the rollers. The range of
+ * these motors go from [-1,1]. A negative speed changes the
+ * direction of the motors.
+ * >>>>>>> reset to unix format
+=======
+ * @param speed
+ * The speed of the motors that control the rollers. The range of
+ * these motors go from [-1,1]. A negative speed changes the
+ * direction of the motors, making it run backwards.
+>>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
+=======
+ * @param voltage
+ * The voltage of the motors that control the rollers. The range of
+ * these motors go from [-1,1]. A negative voltage makes the motor
+ * run
+ * backwards.
+>>>>>>> add class level comment and change speed to voltage
+ */
+
+ public void setRollerVoltage(double voltage) {
+
+ }
+
+ /***
+<<<<<<< e3056e0d68d3b4150b81db56c6685c399cb9c37a
+<<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
+ * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
+ * This method gets you the current speed of the motor that controls the
+ * motor. The range of speed is from [-1,1]. A negative speed changes the
+ * direction of the motor, making it run backwards.
+ *
+ * @return Returns the speed of the motor that controls the roller. The range
+ * of the motor goes from [-1,1]. A negative speed changes the
+ * direction of the motor, making it go backwards.
+ * =======
+ *
+ * @return
+ * >>>>>>> reset to unix format
+=======
+ * This method gets you the current speed of the motor that controls the
+ * motor. The range of speed is from [-1,1]. A negative speed changes the
+ * direction of the motor, making it run backwards.
+ *
+ * @return Returns the speed of the motor that controls the roller. The range
+ * of the motor goes from [-1,1]. A negative speed changes the
+ * direction of the motor, making it go backwards.
+>>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
+=======
+ * This method gets you the current voltage of the motor that controls the
+ * motor. 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 motor goes from [-1,1]. A negative voltage indicates that
+ * the
+ * motor is running backwards.
+>>>>>>> add class level comment and change speed to voltage
+ */
+
+ public double getRollerVoltage() {
+ return 0;
+ }
+
+ /***
+<<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
+ * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
+ * This method checks to see if the motors controlling the rollers are
+ * currently working.
+ *
+ * @return Returns whether the motors are currently running, and returns the
+ * state of the condition (true or false).
+ * =======
+ *
+ * @return
+ */
+
+ public boolean isBallInside() {
+ return true;
+ }
+
+ /***
+ *
+ * @return
+ * >>>>>>> reset to unix format
+=======
+ * 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).
+>>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
+ */
+
+ public boolean areRollersRolling() {
+ return true;
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+
+ }
+}
projects / 3501 / stronghold-2016 / blobdiff