construct intakePot and add intake potentiometer constants to Constants

[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.AnalogPotentiometer;
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, with
 * a potentiometer on it.
 *
 * 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 intakeRoller;
  private CANTalon intakeArm;
  private AnalogPotentiometer intakePot;

  public IntakeArm() {
    intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
    intakeArm = new CANTalon(Constants.IntakeArm.INTAKE_PORT);
    intakePot = new AnalogPotentiometer(
        Constants.IntakeArm.INTAKE_CHANNEL,
        Constants.IntakeArm.FULL_RANGE,
        Constants.IntakeArm.OFFSET);
  }

  /*
   * 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.
   */

  /***
   * These two methods (intakeBall and outputBall)sets the voltage of the motor.
   * The voltage values are constants in Constants class
   */
  public void intakeBall() {
    intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
  }

  public void outputBall() {
    intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
  }

  /***
   * This method gets you the current voltage of the motor that controls the
   * intake arm roller. 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 voltage goes from [-1,1].
   *         A negative voltage indicates that the motor is running backwards.
   */

  public double getRollerVoltage() {
    return intakeRoller.get();
  }

  /***
   * This method sets the voltage of the arm motor. The range is from [-1,1]. A
   * negative voltage makes the direction of the motor go backwards.
   *
   * @param voltage
   *          The voltage that you set the motor at. The range of the voltage of
   *          the arm motor is from [-1,1]. A
   *          negative voltage makes the direction of the motor go backwards.
   */

  public void setArmVoltage(double voltage) {
    if (voltage > 1)
      voltage = 1;
    else if (voltage < -1)
      voltage = -1;

    intakeArm.set(voltage);
  }

  /***
   * This method gets you the current voltage of the motor that controls the
   * intake arm. 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 arm. The
   *         range of the voltage goes from [-1,1].
   *         A negative voltage indicates that the motor is running backwards.
   */

  public double getArmVoltage() {
    return intakeArm.get();
  }

  /***
   * This method checks to see if the presence of the ball inside is true or
   * false.
   *
   * @return Returns whether the ball is inside as true or false
   */

  public boolean isBallInside() {
    return true;
  }

  /***
   * 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).
   *
   */

  public boolean areRollersRolling() {
    return true;
  }

  /***
   * This method gets the angle of the potentiometer on the Intake Arm.
   *
   * @return angle of potentiometer
   */
  public double getIntakePot() {
    return intakePot.get();
  }

  @Override
  protected void initDefaultCommand() {

  }
}