competition fixes

[3501/2017steamworks] / src / org / usfirst / frc / team3501 / robot / subsystems / Intake.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/Intake.java b/src/org/usfirst/frc/team3501/robot/subsystems/Intake.java
index 1c891d4837c2709b94335327784e0963cf51107b..b6c82d484f5f56b03dac38dd6332496972937910 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/Intake.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/Intake.java
@@ -1,47 +1,75 @@
 package org.usfirst.frc.team3501.robot.subsystems;
 
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.MathLib;
+
+import com.ctre.CANTalon;
+
 import edu.wpi.first.wpilibj.command.Subsystem;
 
-/***
- *
- *
+/**
  * @author Meeta
- *
  */
 public class Intake extends Subsystem {
-  public Intake() {
+  private static Intake intake = null;
+  private CANTalon intakeWheel;
+  public static final double INTAKE_SPEED = 1;
+  public static final double REVERSE_SPEED = -1;
 
+  public Intake() {
+    intakeWheel = new CANTalon(Constants.Intake.INTAKE_ROLLER_PORT);
   }
 
-  /**
-   * Runs the intake continuously
+  /***
+   * It gets the intake instance, and if intake has not been initialized, then
+   * it will be initialized.
+   *
+   * @returns intake
    */
-  public void RunContinous() {
+  public static Intake getIntake() {
+    if (intake == null) {
+      intake = new Intake();
+    }
+    return intake;
+  }
+
+  @Override
+  protected void initDefaultCommand() {
 
   }
 
-  /**
-   * Starts running the intake for a specific period of time that the user
-   * inputs.
+  /***
+   * Sets speed of intake wheel to input speed
    *
-   * @param timeToMove
-   *          in seconds
+   * @param speed
+   *          from -1 to 1
    */
-  public void RunIntake(double timeToMove) {
-
+  public void setSpeed(double speed) {
+    speed = MathLib.restrictToRange(speed, -1.0, 1.0);
+    intakeWheel.set(speed);
   }
 
-  /**
-   * Stops the intake
+  /***
+   * Runs the intake wheel at the set intake speed.
    */
-  public void StopIntake() {
-
+  public void runIntake() {
+    setSpeed(INTAKE_SPEED);
   }
 
-  @Override
-  protected void initDefaultCommand() {
-    // TODO Auto-generated method stub
+  /***
+   * Stops the intake wheel by setting intake wheel's speed to 0.
+   */
+  public void stopIntake() {
+    setSpeed(0);
+  }
 
+  /***
+   * Purpose is to release all balls from the ball container to the outside of
+   * the robot. Reverses intake wheel by setting wheel speed to reverse speed.
+   *
+   */
+  public void runReverseIntake() {
+    setSpeed(REVERSE_SPEED);
   }
 
 }