import org.usfirst.frc.team3501.robot.Constants;
-import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.command.Subsystem;
/***
public class IntakeArm extends Subsystem {
private CANTalon intakeRoller;
- private CANTalon intakeArm;
- private AnalogPotentiometer intakePot;
- private double[] potAngles = { 0, 45, 90 };
+ private DoubleSolenoid leftIntake, rightIntake;
+ public static double moveIntakeArmSpeed = 0;
public IntakeArm() {
intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
- intakeArm = new CANTalon(Constants.IntakeArm.ARM_PORT);
- intakePot = new AnalogPotentiometer(Constants.IntakeArm.POT_CHANNEL,
- Constants.IntakeArm.FULL_RANGE, Constants.IntakeArm.OFFSET);
+
+ leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_FORWARD,
+ Constants.IntakeArm.LEFT_REVERSE);
+
+ rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_FORWARD,
+ Constants.IntakeArm.RIGHT_REVERSE);
+ }
+
+ public void retractPistons() {
+ leftIntake.set(Constants.IntakeArm.RETRACT);
+ rightIntake.set(Constants.IntakeArm.RETRACT);
+ }
+
+ public void extendPistons() {
+ leftIntake.set(Constants.IntakeArm.EXTEND);
+ rightIntake.set(Constants.IntakeArm.EXTEND);
}
/***
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
return intakeRoller.get();
}
- /***
- * This method sets the voltage of the arm motor. The range is from [-1,1]. A
- * negative voltage makes the direction of the motor go backwards.
- *
- * @param voltage
- * The voltage that you set the motor at. The range of the voltage of
- * the arm motor is from [-1,1]. A negative voltage makes the
- * direction of the motor go backwards.
- */
-
- public void setArmSpeed(double voltage) {
- if (voltage > 1)
- voltage = 1;
- else if (voltage < -1)
- voltage = -1;
-
- intakeArm.set(voltage);
- }
-
- /***
- * This method gets you the current voltage of the motor that controls the
- * intake arm. 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 arm. The range
- * of the voltage goes from [-1,1]. A negative voltage indicates that
- * the motor is running backwards.
- */
-
- public double getArmSpeed() {
- return intakeArm.get();
- }
-
/***
* This method checks to see if the presence of the ball inside is true or
* false.
return true;
}
- /***
- * This method gets the angle of the potentiometer on the Intake Arm.
- *
- * @return angle of potentiometer
- */
-
- public double getArmAngle() {
- return intakePot.get() + Constants.IntakeArm.ZERO_ANGLE;
- }
-
- public void stop() {
- setArmSpeed(0);
- }
-
- public double getAngleForLevel(double targetLevel) {
- return potAngles[(int) (targetLevel - 1)];
- }
-
@Override
protected void initDefaultCommand() {