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;
/***
* 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.
+ * 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 intakeRoller;
- private CANTalon intakeArm;
- private AnalogPotentiometer intakePot;
+ private DoubleSolenoid leftIntake, rightIntake;
+ public static double moveIntakeArmSpeed = 0;
public IntakeArm() {
- intakeRoller = new CANTalon(Constants.IntakeArm.PORT);
- intakeArm = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT);
+ intakeRoller = new CANTalon(Constants.IntakeArm.INTAKE_ROLLER_PORT);
+
+ leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_INTAKE_MODULE,
+ Constants.IntakeArm.LEFT_INTAKE_FORWARD,
+ Constants.IntakeArm.LEFT_INTAKE_REVERSE);
+
+ rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_INTAKE_MODULE,
+ Constants.IntakeArm.RIGHT_INTAKE_FORWARD,
+ Constants.IntakeArm.RIGHT_INTAKE_REVERSE);
}
- /*
- * 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 retractPistons() {
+ leftIntake.set(Constants.IntakeArm.RETRACT);
+ rightIntake.set(Constants.IntakeArm.RETRACT);
+ }
- public void intakeBall() {
- intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
+ public void extendPistons() {
+ leftIntake.set(Constants.IntakeArm.EXTEND);
+ rightIntake.set(Constants.IntakeArm.EXTEND);
}
- public void outputBall() {
- intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
+ public boolean isExtended() {
+ return (leftIntake.get() == Constants.IntakeArm.EXTEND
+ && rightIntake.get() == Constants.IntakeArm.EXTEND);
}
/***
- * 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.
- *
- * @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.
+ * 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 setRollerVoltage(double voltage) {
+ /***
+ * 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. The range of voltage is from [-1,1].
- * A negative voltage makes the motor run backwards.
+ * 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.
+ * range of the voltage goes from [-1,1]. A negative voltage indicates
+ * that the motor is running backwards.
*/
public double getRollerVoltage() {
- return 0;
+ return intakeRoller.get();
}
/***
*/
public boolean areRollersRolling() {
+ if (Math.abs(getRollerVoltage()) < 0.02)
+ return false;
return true;
}
- /***
- * This method gets the angle of the potentiometer on the Intake Arm.
- *
- * @return angle of potentiometer
- */
- public double getIntakePot() {
- return intakePot.get();
- }
-
@Override
protected void initDefaultCommand() {