add class level comment and change speed to voltage

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / IntakeArm.java

package org.usfirst.frc.team3501.robot.subsystems;

import org.usfirst.frc.team3501.robot.Constants;

import edu.wpi.first.wpilibj.CANTalon;
import edu.wpi.first.wpilibj.command.Subsystem;

/***
 * The IntakeArm consists of two rollers that are controlled by one motor. The
 * class is deployed using a command that accelerates the robot forward and
 * gravity pushes the arm down. After the IntakeArm is pushed down by gravity,
 * the arm remains stationary for the rest of the match.
 *
 * The motor controls the rollers, making them roll forwards and backwards.
 * The Intake rollers are on the back of the robot. As the rollers run, they
 * intake the ball.
 *
 * @author superuser
 *
 */

public class IntakeArm extends Subsystem {
  private CANTalon intake;
  private CANTalon chevalDeFriseHand;

  public IntakeArm() {
    intake = new CANTalon(Constants.IntakeArm.PORT);
    chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT);
  }

  /*
   * Intake only moves once at the beginning of the match. It lowers at the
   * beginning of the match and is held there by mechanical stops until the end
   * of the match.
   *
   * Must be used in a command that has a timer variable to stop it.
   */
  public void dropIntake() {
    intake.set(0.3);
  }

  public void intake() {
    intake.set(Constants.IntakeArm.INTAKE_SPEED);
  }

  public void output() {
    intake.set(Constants.IntakeArm.OUTPUT_SPEED);
  }

  /***
   * This method allows you to set the voltage of the motor. The range of
   * voltage is from [-1, 1]. A negative voltage makes the motor run backwards.
   *
<<<<<<< e3056e0d68d3b4150b81db56c6685c399cb9c37a
<<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
   * @param speed
   *          The speed of the motors that control the rollers. The range of
   *          these motors go from [-1,1]. A negative speed changes the
   *          direction of the motors, making it run backwards.
   *          =======
   *          public IntakeArm() {
   * 
   *          }
   * 
   *          /***
   *          This method allows you to set the speed of the motor(s). The range
   *          of speed
   *          is from [-1, 1]. A negative speed changes the direction of the
   *          motors.
   *
   * @param speed
   *          The speed of the motors that control the rollers. The range of
   *          these motors go from [-1,1]. A negative speed changes the
   *          direction of the motors.
   *          >>>>>>> reset to unix format
=======
   * @param speed
   *          The speed of the motors that control the rollers. The range of
   *          these motors go from [-1,1]. A negative speed changes the
   *          direction of the motors, making it run backwards.
>>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
=======
   * @param voltage
   *          The voltage of the motors that control the rollers. The range of
   *          these motors go from [-1,1]. A negative voltage makes the motor
   *          run
   *          backwards.
>>>>>>> add class level comment and change speed to voltage
   */

  public void setRollerVoltage(double voltage) {

  }

  /***
<<<<<<< e3056e0d68d3b4150b81db56c6685c399cb9c37a
<<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
   * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
   * This method gets you the current speed of the motor that controls the
   * motor. The range of speed is from [-1,1]. A negative speed changes the
   * direction of the motor, making it run backwards.
   *
   * @return Returns the speed of the motor that controls the roller. The range
   *         of the motor goes from [-1,1]. A negative speed changes the
   *         direction of the motor, making it go backwards.
   *         =======
   *
   * @return
   *         >>>>>>> reset to unix format
=======
   * This method gets you the current speed of the motor that controls the
   * motor. The range of speed is from [-1,1]. A negative speed changes the
   * direction of the motor, making it run backwards.
   *
   * @return Returns the speed of the motor that controls the roller. The range
   *         of the motor goes from [-1,1]. A negative speed changes the
   *         direction of the motor, making it go backwards.
>>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
=======
   * This method gets you the current voltage of the motor that controls the
   * motor. The range of voltage is from [-1,1]. A negative voltage makes the
   * motor
   * run backwards.
   *
   * @return Returns the voltage of the motor that controls the roller. The
   *         range
   *         of the motor goes from [-1,1]. A negative voltage indicates that
   *         the
   *         motor is running backwards.
>>>>>>> add class level comment and change speed to voltage
   */

  public double getRollerVoltage() {
    return 0;
  }

  /***
<<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
   * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
   * This method checks to see if the motors controlling the rollers are
   * currently working.
   *
   * @return Returns whether the motors are currently running, and returns the
   *         state of the condition (true or false).
   *         =======
   *
   * @return
   */

  public boolean isBallInside() {
    return true;
  }

  /***
   *
   * @return
   *         >>>>>>> reset to unix format
=======
   * This method checks to see if the motors controlling the rollers are
   * currently running.
   *
   * @return Returns whether the motors are currently running, and returns the
   *         state of the condition (true or false).
>>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
   */

  public boolean areRollersRolling() {
    return true;
  }

  @Override
  protected void initDefaultCommand() {

  }
}