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[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;

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 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.
   */

  public void setRollerSpeed(double speed) {

  }

  /***
   *
   * @return
   */

  public double getRollerSpeed() {
    return 0;
  }

  /***
   *
   * @return
   */

  public boolean isBallInside() {
    return true;
  }

  /***
   *
   * @return
   */

  public boolean areRollersRolling() {
    return true;
  }

  @Override
  protected void initDefaultCommand() {

  }
}