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7b11350e KZ |
1 | package org.usfirst.frc.team3501.robot.subsystems; |
2 | ||
3 | import org.usfirst.frc.team3501.robot.Constants; | |
4 | ||
6fd4f44e | 5 | import edu.wpi.first.wpilibj.AnalogPotentiometer; |
7b11350e KZ |
6 | import edu.wpi.first.wpilibj.CANTalon; |
7 | import edu.wpi.first.wpilibj.command.Subsystem; | |
8 | ||
add57fee | 9 | /*** |
1eb84222 SC |
10 | * The IntakeArm consists of two rollers that are controlled by one motor, with |
11 | * a potentiometer on it. | |
add57fee | 12 | * |
dc394eb0 SG |
13 | * The motor controls the rollers, making them roll forwards and backwards. The |
14 | * Intake rollers are on the back of the robot. As the rollers run, they intake | |
15 | * the ball. | |
add57fee YA |
16 | * |
17 | * @author superuser | |
18 | * | |
19 | */ | |
20 | ||
7b11350e | 21 | public class IntakeArm extends Subsystem { |
4e0d6389 LM |
22 | |
23 | private CANTalon intakeRoller; | |
24 | private CANTalon intakeArm; | |
25 | private AnalogPotentiometer intakePot; | |
26 | private double[] potAngles = { 0, 45, 90 }; | |
27 | ||
28 | public IntakeArm() { | |
29 | intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT); | |
30 | intakeArm = new CANTalon(Constants.IntakeArm.ARM_PORT); | |
31 | intakePot = new AnalogPotentiometer(Constants.IntakeArm.POT_CHANNEL, | |
32 | Constants.IntakeArm.FULL_RANGE, Constants.IntakeArm.OFFSET); | |
4e0d6389 LM |
33 | } |
34 | ||
35 | /*** | |
36 | * This method sets the voltage of the motor to intake the ball. The voltage | |
37 | * values are constants in Constants class | |
38 | */ | |
39 | public void intakeBall() { | |
40 | intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED); | |
41 | } | |
42 | ||
43 | /*** | |
44 | * This method sets the voltage of the motor to output the ball. The voltage | |
45 | * values are constants in Constants class | |
46 | */ | |
47 | public void outputBall() { | |
48 | intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED); | |
49 | } | |
50 | ||
51 | /*** | |
52 | * This method gets you the current voltage of the motor that controls the | |
53 | * intake arm roller. The range of voltage is from [-1,1]. A negative voltage | |
54 | * makes the motor run backwards. | |
55 | * | |
56 | * @return Returns the voltage of the motor that controls the roller. The | |
57 | * range of the voltage goes from [-1,1]. A negative voltage indicates | |
58 | * that the motor is running backwards. | |
59 | */ | |
60 | ||
61 | public double getRollerVoltage() { | |
62 | return intakeRoller.get(); | |
63 | } | |
64 | ||
65 | /*** | |
66 | * This method sets the voltage of the arm motor. The range is from [-1,1]. A | |
67 | * negative voltage makes the direction of the motor go backwards. | |
68 | * | |
69 | * @param voltage | |
70 | * The voltage that you set the motor at. The range of the voltage of | |
71 | * the arm motor is from [-1,1]. A negative voltage makes the | |
72 | * direction of the motor go backwards. | |
73 | */ | |
74 | ||
75 | public void setArmSpeed(double voltage) { | |
76 | if (voltage > 1) | |
77 | voltage = 1; | |
78 | else if (voltage < -1) | |
79 | voltage = -1; | |
80 | ||
81 | intakeArm.set(voltage); | |
82 | } | |
83 | ||
84 | /*** | |
85 | * This method gets you the current voltage of the motor that controls the | |
86 | * intake arm. The range of voltage is from [-1,1]. A negative voltage makes | |
87 | * the motor run backwards. | |
88 | * | |
89 | * @return Returns the voltage of the motor that controls the arm. The range | |
90 | * of the voltage goes from [-1,1]. A negative voltage indicates that | |
91 | * the motor is running backwards. | |
92 | */ | |
93 | ||
94 | public double getArmSpeed() { | |
95 | return intakeArm.get(); | |
96 | } | |
97 | ||
98 | /*** | |
99 | * This method checks to see if the presence of the ball inside is true or | |
100 | * false. | |
101 | * | |
102 | * @return Returns whether the ball is inside as true or false | |
103 | */ | |
104 | ||
105 | public boolean isBallInside() { | |
106 | return true; | |
107 | } | |
108 | ||
109 | /*** | |
110 | * This method checks to see if the motors controlling the rollers are | |
111 | * currently running. | |
112 | * | |
113 | * @return Returns whether the motors are currently running, and returns the | |
114 | * state of the condition (true or false). | |
115 | * | |
116 | */ | |
117 | ||
118 | public boolean areRollersRolling() { | |
42c4c734 LM |
119 | if (Math.abs(getRollerVoltage()) < 0.02) |
120 | return false; | |
4e0d6389 LM |
121 | return true; |
122 | } | |
123 | ||
124 | /*** | |
125 | * This method gets the angle of the potentiometer on the Intake Arm. | |
126 | * | |
127 | * @return angle of potentiometer | |
128 | */ | |
129 | ||
130 | public double getArmAngle() { | |
131 | return intakePot.get() + Constants.IntakeArm.ZERO_ANGLE; | |
132 | } | |
133 | ||
134 | public void stop() { | |
135 | setArmSpeed(0); | |
136 | } | |
137 | ||
138 | public double getAngleForLevel(double targetLevel) { | |
139 | return potAngles[(int) (targetLevel - 1)]; | |
140 | } | |
141 | ||
142 | @Override | |
143 | protected void initDefaultCommand() { | |
144 | ||
145 | } | |
7b11350e | 146 | } |