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   public Intake() {
  20     intakeWheel = new CANTalon(Constants.Intake.INTAKE_ROLLER_PORT);
  21   }
  22
  23   /***
  24    * It gets the intake instance, and if intake has not been initialized, then
  25    * it will be initialized.
  26    *
  27    * @returns intake
  28    */
  29   public static Intake getIntake() {
  30     if (intake == null) {
  31       intake = new Intake();
  32     }
  33     return intake;
  34   }
  35
  36   @Override
  37   protected void initDefaultCommand() {
  38
  39   }
  40
  41   /***
  42    * Sets speed of intake wheel to input speed
  43    *
  44    * @param speed
  45    *          from -1 to 1
  46    */
  47   public void setSpeed(double speed) {
  48     speed = MathLib.restrictToRange(speed, -1.0, 1.0);
  49     intakeWheel.set(speed);
  50   }
  51
  52   /***
  53    * Runs the intake wheel at the set intake speed.
  54    */
  55   public void runIntake() {
  56     setSpeed(INTAKE_SPEED);
  57   }
  58
  59   /***
  60    * Stops the intake wheel by setting intake wheel's speed to 0.
  61    */
  62   public void stopIntake() {
  63     setSpeed(0);
  64   }
  65
  66   /***
  67    * Purpose is to release all balls from the ball container to the outside of
  68    * the robot. Reverses intake wheel by setting wheel speed to reverse speed.
  69    *
  70    */
  71   public void runReverseIntake() {
  72     setSpeed(REVERSE_SPEED);
  73   }
  74
  75 }