challenge-bot.com Git - 3501/2017steamworks/blob - src/org/usfirst/frc/team3501/robot/subsystems/Intake.java

   1 package org.usfirst.frc.team3501.robot.subsystems;
   2
   3 import org.usfirst.frc.team3501.robot.Constants;
   4
   5 import com.ctre.CANTalon;
   6
   7 import edu.wpi.first.wpilibj.command.Subsystem;
   8
   9 /**
  10  * @author Meeta
  11  */
  12 public class Intake extends Subsystem {
  13   private static Intake intake = null;
  14   private CANTalon intakeWheel;
  15   public static final double INTAKE_SPEED = 0;
  16   public static final double REVERSE_SPEED = 0;
  17
  18   public Intake() {
  19     intakeWheel = new CANTalon(Constants.Intake.INTAKE_ROLLER_PORT);
  20   }
  21
  22   /***
  23    * It gets the intake instance, and if intake has not been initialized, then
  24    * it will be initialized.
  25    *
  26    * @returns intake
  27    */
  28   public static Intake getIntake() {
  29     if (intake == null) {
  30       intake = new Intake();
  31     }
  32     return intake;
  33   }
  34
  35   @Override
  36   protected void initDefaultCommand() {
  37
  38   }
  39
  40   /***
  41    * Sets speed of intake wheel to input speed
  42    *
  43    * @param speed
  44    *          from -1 to 1
  45    */
  46   private void setSpeed(double speed) {
  47     intakeWheel.set(speed);
  48   }
  49
  50   /***
  51    * Runs the intake wheel at the set intake speed.
  52    */
  53   public void runIntake() {
  54     setSpeed(INTAKE_SPEED);
  55   }
  56
  57   /***
  58    * Stops the intake wheel by setting intake wheel's speed to 0.
  59    */
  60   public void stopIntake() {
  61     setSpeed(0);
  62   }
  63
  64   /***
  65    * Purpose is to release all balls from the ball container to the outside of
  66    * the robot. Reverses intake wheel by setting wheel speed to reverse speed.
  67    *
  68    */
  69   public void runReverseIntake() {
  70     setSpeed(REVERSE_SPEED);
  71   }
  72
  73 }