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7b11350e KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
4 | ||
5 | import edu.wpi.first.wpilibj.CANTalon; | |
6 | import edu.wpi.first.wpilibj.command.Subsystem; | |
7 | ||
8 | public class IntakeArm extends Subsystem { | |
7b11350e KZ |
9 | private CANTalon intake; |
10 | private CANTalon chevalDeFriseHand; | |
11 | ||
12 | public IntakeArm() { | |
13 | intake = new CANTalon(Constants.IntakeArm.PORT); | |
c4e71803 | 14 | chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT); |
7b11350e KZ |
15 | } |
16 | ||
17 | /* | |
18 | * Intake only moves once at the beginning of the match. It lowers at the | |
19 | * beginning of the match and is held there by mechanical stops until the end | |
20 | * of the match. | |
fdde5248 | 21 | * |
7b11350e KZ |
22 | * Must be used in a command that has a timer variable to stop it. |
23 | */ | |
24 | public void dropIntake() { | |
25 | intake.set(0.3); | |
26 | } | |
27 | ||
28 | public void intake() { | |
29 | intake.set(Constants.IntakeArm.INTAKE_SPEED); | |
30 | } | |
31 | ||
32 | public void output() { | |
33 | intake.set(Constants.IntakeArm.OUTPUT_SPEED); | |
34 | } | |
35 | ||
fdde5248 | 36 | /*** |
08d3b5a4 YA |
37 | * This method allows you to set the speed of the motor. The range of speed |
38 | * is from [-1, 1]. A negative speed changes the direction of the motors, | |
39 | * making it run backwards. | |
40 | * | |
0e37d53e | 41 | <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb |
fdde5248 YA |
42 | * @param speed |
43 | * The speed of the motors that control the rollers. The range of | |
44 | * these motors go from [-1,1]. A negative speed changes the | |
08d3b5a4 | 45 | * direction of the motors, making it run backwards. |
8e57685f KZ |
46 | * ======= |
47 | * public IntakeArm() { | |
48 | * | |
49 | * } | |
50 | * | |
51 | * /*** | |
52 | * This method allows you to set the speed of the motor(s). The range | |
53 | * of speed | |
54 | * is from [-1, 1]. A negative speed changes the direction of the | |
55 | * motors. | |
56 | * | |
57 | * @param speed | |
58 | * The speed of the motors that control the rollers. The range of | |
59 | * these motors go from [-1,1]. A negative speed changes the | |
60 | * direction of the motors. | |
61 | * >>>>>>> reset to unix format | |
0e37d53e YA |
62 | ======= |
63 | * @param speed | |
64 | * The speed of the motors that control the rollers. The range of | |
65 | * these motors go from [-1,1]. A negative speed changes the | |
66 | * direction of the motors, making it run backwards. | |
67 | >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling | |
fdde5248 YA |
68 | */ |
69 | ||
70 | public void setRollerSpeed(double speed) { | |
71 | ||
72 | } | |
73 | ||
74 | /*** | |
0e37d53e | 75 | <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb |
8e57685f | 76 | * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549 |
08d3b5a4 YA |
77 | * This method gets you the current speed of the motor that controls the |
78 | * motor. The range of speed is from [-1,1]. A negative speed changes the | |
79 | * direction of the motor, making it run backwards. | |
fdde5248 | 80 | * |
08d3b5a4 YA |
81 | * @return Returns the speed of the motor that controls the roller. The range |
82 | * of the motor goes from [-1,1]. A negative speed changes the | |
83 | * direction of the motor, making it go backwards. | |
8e57685f KZ |
84 | * ======= |
85 | * | |
86 | * @return | |
87 | * >>>>>>> reset to unix format | |
0e37d53e YA |
88 | ======= |
89 | * This method gets you the current speed of the motor that controls the | |
90 | * motor. The range of speed is from [-1,1]. A negative speed changes the | |
91 | * direction of the motor, making it run backwards. | |
92 | * | |
93 | * @return Returns the speed of the motor that controls the roller. The range | |
94 | * of the motor goes from [-1,1]. A negative speed changes the | |
95 | * direction of the motor, making it go backwards. | |
96 | >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling | |
fdde5248 YA |
97 | */ |
98 | ||
99 | public double getRollerSpeed() { | |
100 | return 0; | |
101 | } | |
102 | ||
103 | /*** | |
0e37d53e | 104 | <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb |
8e57685f | 105 | * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549 |
08d3b5a4 YA |
106 | * This method checks to see if the motors controlling the rollers are |
107 | * currently working. | |
fdde5248 | 108 | * |
08d3b5a4 YA |
109 | * @return Returns whether the motors are currently running, and returns the |
110 | * state of the condition (true or false). | |
8e57685f KZ |
111 | * ======= |
112 | * | |
113 | * @return | |
114 | */ | |
115 | ||
116 | public boolean isBallInside() { | |
117 | return true; | |
118 | } | |
119 | ||
120 | /*** | |
121 | * | |
122 | * @return | |
123 | * >>>>>>> reset to unix format | |
0e37d53e YA |
124 | ======= |
125 | * This method checks to see if the motors controlling the rollers are | |
126 | * currently working. | |
127 | * | |
128 | * @return Returns whether the motors are currently running, and returns the | |
129 | * state of the condition (true or false). | |
130 | >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling | |
fdde5248 YA |
131 | */ |
132 | ||
133 | public boolean areRollersRolling() { | |
134 | return true; | |
135 | } | |
136 | ||
7b11350e KZ |
137 | @Override |
138 | protected void initDefaultCommand() { | |
139 | ||
140 | } | |
141 | } |