X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FIntakeArm.java;h=1870799debfc45f510217aded8ae180c73417dba;hb=5cff891038f613483040c7f1a2b5b554adcd3313;hp=3461f1735d996d3cd4de37207ebdf410cece0274;hpb=0a716f8d99e379dcbcf5eb5bd4a567efb382447b;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 3461f173..1870799d 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -1,16 +1,101 @@
-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() {
-		// TODO Auto-generated method stub
-		
-	}
-}
+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.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 intakeRoller;
+  private DoubleSolenoid leftIntake, rightIntake;
+  public static double moveIntakeArmSpeed = 0;
+
+  public IntakeArm() {
+    intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
+
+    leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_FORWARD,
+        Constants.IntakeArm.LEFT_REVERSE);
+
+    rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_FORWARD,
+        Constants.IntakeArm.RIGHT_REVERSE);
+  }
+
+  /***
+   * 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);
+  }
+
+  /***
+   * 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 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 getRollerVoltage() {
+    return intakeRoller.get();
+  }
+
+  /***
+   * This method checks to see if the presence of the ball inside is true or
+   * false.
+   *
+   * @return Returns whether the ball is inside as true or false
+   */
+
+  public boolean isBallInside() {
+    return true;
+  }
+
+  /***
+   * 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).
+   *
+   */
+
+  public boolean areRollersRolling() {
+    if (Math.abs(getRollerVoltage()) < 0.02)
+      return false;
+    return true;
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+
+  }
+}