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=630ad151c270419e10c60970e1e504c94c23ea92;hpb=d6c9c0f450d10e1a25b0812458aa98d7110fdf57;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 630ad151..1870799d 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -3,63 +3,76 @@ 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 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);
 
-  public void intake() {
-    intake.set(Constants.IntakeArm.INTAKE_SPEED);
+    rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_FORWARD,
+        Constants.IntakeArm.RIGHT_REVERSE);
   }
 
-  public void output() {
-    intake.set(Constants.IntakeArm.OUTPUT_SPEED);
+  /***
+   * 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 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 output the ball. The voltage
+   * values are constants in Constants class
    */
+  public void outputBall() {
+    intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
+  }
 
-  public void setRollerSpeed(double 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() {
@@ -67,11 +80,17 @@ public class IntakeArm extends Subsystem {
   }
 
   /***
+   * 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;
   }