X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FIntakeArm.java;h=630ad151c270419e10c60970e1e504c94c23ea92;hb=d6c9c0f450d10e1a25b0812458aa98d7110fdf57;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..630ad151 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -1,15 +1,82 @@
-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(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.
+   */
+
+  public void setRollerSpeed(double speed) {
+
+  }
+
+  /***
+   *
+   * @return
+   */
+
+  public double getRollerSpeed() {
+    return 0;
+  }
+
+  /***
+   *
+   * @return
+   */
+
+  public boolean isBallInside() {
+    return true;
+  }
+
+  /***
+   *
+   * @return
+   */
+
+  public boolean areRollersRolling() {
+    return true;
+  }
+
+  @Override
+  protected void initDefaultCommand() {
+
+  }
+}