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 import org.usfirst.frc.team3501.robot.MathLib;
   5
   6 import com.ctre.CANTalon;
   7
   8 import edu.wpi.first.wpilibj.command.Subsystem;
   9
  10 /**
  11  * @author Meeta
  12  */
  13 public class Intake extends Subsystem {
  14   private static Intake intake = null;
  15   private CANTalon intakeWheel;
  16   public static final double INTAKE_SPEED = 1;
  17   public static final double REVERSE_SPEED = -1;
  18
  19   private int intakeCameraFeed = 1;
  20
  21   public Intake() {
  22     intakeWheel = new CANTalon(Constants.Intake.INTAKE_ROLLER_PORT);
  23   }
  24
  25   /***
  26    * It gets the intake instance, and if intake has not been initialized, then
  27    * it will be initialized.
  28    *
  29    * @returns intake
  30    */
  31   public static Intake getIntake() {
  32     if (intake == null) {
  33       intake = new Intake();
  34     }
  35     return intake;
  36   }
  37
  38   @Override
  39   protected void initDefaultCommand() {
  40
  41   }
  42
  43   /***
  44    * Sets speed of intake wheel to input speed
  45    *
  46    * @param speed
  47    *          from -1 to 1
  48    */
  49   private void setSpeed(double speed) {
  50     speed = MathLib.restrictToRange(speed, -1.0, 1.0);
  51     intakeWheel.set(speed);
  52   }
  53
  54   /***
  55    * Runs the intake wheel at the set intake speed.
  56    */
  57   public void runIntake() {
  58     setSpeed(INTAKE_SPEED);
  59   }
  60
  61   /***
  62    * Stops the intake wheel by setting intake wheel's speed to 0.
  63    */
  64   public void stopIntake() {
  65     setSpeed(0);
  66   }
  67
  68   public int getIntakeCameraFeed() {
  69     return this.intakeCameraFeed;
  70   }
  71
  72   public void setIntakeCameraFeed(int intakeCamFeed) {
  73     this.intakeCameraFeed = intakeCamFeed;
  74   }
  75
  76   /***
  77    * Purpose is to release all balls from the ball container to the outside of
  78    * the robot. Reverses intake wheel by setting wheel speed to reverse speed.
  79    *
  80    */
  81   public void runReverseIntake() {
  82     setSpeed(REVERSE_SPEED);
  83   }
  84
  85 }