import org.usfirst.frc.team3501.robot.Constants;
import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.command.Subsystem;
+/***
+ * The IntakeArm consists of two rollers that are controlled by one motor, with
+ * a potentiometer on it.
+ *
+ * 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;
+ private CANTalon intakeRoller;
+ private DoubleSolenoid leftIntake, rightIntake;
+ public static double moveIntakeArmSpeed = 0;
public IntakeArm() {
- intake = new CANTalon(Constants.IntakeArm.PORT);
- chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT);
- }
+ intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_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);
+ leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_FORWARD,
+ Constants.IntakeArm.LEFT_REVERSE);
+
+ rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_FORWARD,
+ Constants.IntakeArm.RIGHT_REVERSE);
}
- public void intake() {
- intake.set(Constants.IntakeArm.INTAKE_SPEED);
+ public void retractPistons() {
+ leftIntake.set(Constants.IntakeArm.RETRACT);
+ rightIntake.set(Constants.IntakeArm.RETRACT);
}
- public void output() {
- intake.set(Constants.IntakeArm.OUTPUT_SPEED);
+ public void extendPistons() {
+ leftIntake.set(Constants.IntakeArm.EXTEND);
+ rightIntake.set(Constants.IntakeArm.EXTEND);
}
/***
- * 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.
+ * This method sets the voltage of the motor to intake the ball. The voltage
+ * values are constants in Constants class
*/
+ public void intakeBall() {
+ intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
+ }
- public void setRollerSpeed(double speed) {
+ /***
+ * This method sets the voltage of the motor to output the ball. The voltage
+ * values are constants in Constants class
+ */
+ public void outputBall() {
+ intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
+ }
+ 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
+ * @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 getRollerSpeed() {
- return 0;
+ public double getRollerVoltage() {
+ return intakeRoller.get();
}
/***
+ * This method checks to see if the presence of the ball inside is true or
+ * false.
*
- * @return
+ * @return Returns whether the ball is inside as true or false
*/
public boolean isBallInside() {
}
/***
+ * 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).
*
- * @return
*/
public boolean areRollersRolling() {
+ if (Math.abs(getRollerVoltage()) < 0.02)
+ return false;
return true;
}