change javadoc comment for areRollersRolling method

[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.
   *
   * @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.
   */

  public void setRollerVoltage(double 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 roller. The
   *         range of the voltage goes from [-1,1].
   *         A negative voltage indicates that the motor is running backwards.
   */

  public double getRollerVoltage() {
    return 0;
  }

  /***
   * 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;
  }

  @Override
  protected void initDefaultCommand() {

  }
}