-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
-\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;
+
+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 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.
+ */
+
+ public void setRollerSpeed(double speed) {
+
+ }
+
+ /***
+ *
+ * @return
+ */
+
+ public double getRollerSpeed() {
+ return 0;
+ }
+
+ /***
+ *
+ * @return
+ */
+
+ public boolean isBallInside() {
+ return true;
+ }
+
+ /***
+ *
+ * @return
+ */
+
+ public boolean areRollersRolling() {
+ return true;
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+
+ }
+}