X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FIntakeArm.java;h=0dffb86f11390784cab797ae7c16b4afeb949ca2;hb=8e57685f4bacaa8353202309b93bd8f7802e0631;hp=f27eb665efc8647e8ae66291f2661c36f0638957;hpb=5585bd3152a10ee382cf7d1fc6b75299f96689a7;p=3501%2Fstronghold-2016

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
index f27eb665..0dffb86f 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -1,15 +1,116 @@
-package org.usfirst.frc.team3501.robot.subsystems;
-
-import edu.wpi.first.wpilibj.command.Subsystem;
-
-public class IntakeArm extends Subsystem {
-
-	public IntakeArm() {
-
-	}
-
-	@Override
-	protected void initDefaultCommand() {
-
-	}
-}
+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. The range of speed
+   * is from [-1, 1]. A negative speed changes the direction of the motors,
+   * making it run backwards.
+   *
+   * @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
+   */
+
+  public void setRollerSpeed(double speed) {
+
+  }
+
+  /***
+   * <<<<<<< 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
+   */
+
+  public double getRollerSpeed() {
+    return 0;
+  }
+
+  /***
+   * <<<<<<< 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
+   */
+
+  public boolean areRollersRolling() {
+    return true;
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+
+  }
+}