X-Git-Url: http://challenge-bot.com/repos/?a=blobdiff_plain;f=src%2Forg%2Fusfirst%2Ffrc%2Fteam3501%2Frobot%2Fsubsystems%2FIntakeArm.java;h=856db2bb139c5c23b0639783df255486eff9814b;hb=2781cca0354e26f8c5a6150d6b5179d300d479e1;hp=9089852a6f790a69b63d6b3f1360801cb1049680;hpb=676d37c3b0584a8e163c71fc59d614f3c5115848;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 9089852a..856db2bb 100755 --- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java @@ -2,8 +2,8 @@ package org.usfirst.frc.team3501.robot.subsystems; 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; /*** @@ -19,126 +19,93 @@ import edu.wpi.first.wpilibj.command.Subsystem; */ public class IntakeArm extends Subsystem { - private CANTalon intakeRoller; - private CANTalon intakeArm; - private AnalogPotentiometer intakePot; - private double[] potAngles = { 0, 45, 90 }; - - public IntakeArm() { - intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT); - intakeArm = new CANTalon(Constants.IntakeArm.ARM_PORT); - intakePot = new AnalogPotentiometer(Constants.IntakeArm.POT_CHANNEL, Constants.IntakeArm.FULL_RANGE, - Constants.IntakeArm.OFFSET); - - } - - /*** - * 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); - } - - /*** - * 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 sets the voltage of the arm motor. The range is from [-1,1]. - * A negative voltage makes the direction of the motor go backwards. - * - * @param voltage - * The voltage that you set the motor at. The range of the - * voltage of the arm motor is from [-1,1]. A negative voltage - * makes the direction of the motor go backwards. - */ - - public void setArmSpeed(double voltage) { - if (voltage > 1) - voltage = 1; - else if (voltage < -1) - voltage = -1; - - intakeArm.set(voltage); - } - - /*** - * 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. - * - * @return Returns the voltage of the motor that controls the arm. The range - * of the voltage goes from [-1,1]. A negative voltage indicates - * that the motor is running backwards. - */ - - public double getArmSpeed() { - return intakeArm.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() { - return true; - } - - /*** - * This method gets the angle of the potentiometer on the Intake Arm. - * - * @return angle of potentiometer - */ - - public double getArmAngle() { - return intakePot.get() + Constants.IntakeArm.ZERO_ANGLE; - } - - public void stop() { - setArmSpeed(0); - } - - public double getAngleForLevel(double targetLevel) { - return potAngles[(int) (targetLevel - 1)]; - } - - @Override - protected void initDefaultCommand() { - - } + + 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); + } + + public void retractPistons() { + leftIntake.set(Constants.IntakeArm.RETRACT); + rightIntake.set(Constants.IntakeArm.RETRACT); + } + + public void extendPistons() { + leftIntake.set(Constants.IntakeArm.EXTEND); + rightIntake.set(Constants.IntakeArm.EXTEND); + } + + /*** + * 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() { + + } }