| 1 | package org.usfirst.frc.team3501.robot.subsystems; |
| 2 | |
| 3 | import org.usfirst.frc.team3501.robot.Constants; |
| 4 | |
| 5 | import edu.wpi.first.wpilibj.CANTalon; |
| 6 | import edu.wpi.first.wpilibj.DoubleSolenoid; |
| 7 | import edu.wpi.first.wpilibj.command.Subsystem; |
| 8 | |
| 9 | /*** |
| 10 | * The IntakeArm consists of two rollers that are controlled by one motor, with |
| 11 | * a potentiometer on it. |
| 12 | * |
| 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. |
| 16 | * |
| 17 | * @author superuser |
| 18 | * |
| 19 | */ |
| 20 | |
| 21 | public class IntakeArm extends Subsystem { |
| 22 | |
| 23 | private CANTalon intakeRoller; |
| 24 | private DoubleSolenoid leftIntake, rightIntake; |
| 25 | public static double moveIntakeArmSpeed = 0; |
| 26 | |
| 27 | public IntakeArm() { |
| 28 | intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT); |
| 29 | |
| 30 | leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_FORWARD, |
| 31 | Constants.IntakeArm.LEFT_REVERSE); |
| 32 | |
| 33 | rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_FORWARD, |
| 34 | Constants.IntakeArm.RIGHT_REVERSE); |
| 35 | } |
| 36 | |
| 37 | public void retractPistons() { |
| 38 | leftIntake.set(Constants.IntakeArm.RETRACT); |
| 39 | rightIntake.set(Constants.IntakeArm.RETRACT); |
| 40 | } |
| 41 | |
| 42 | public void extendPistons() { |
| 43 | leftIntake.set(Constants.IntakeArm.EXTEND); |
| 44 | rightIntake.set(Constants.IntakeArm.EXTEND); |
| 45 | } |
| 46 | |
| 47 | /*** |
| 48 | * This method sets the voltage of the motor to intake the ball. The voltage |
| 49 | * values are constants in Constants class |
| 50 | */ |
| 51 | public void intakeBall() { |
| 52 | intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED); |
| 53 | } |
| 54 | |
| 55 | /*** |
| 56 | * This method sets the voltage of the motor to output the ball. The voltage |
| 57 | * values are constants in Constants class |
| 58 | */ |
| 59 | public void outputBall() { |
| 60 | intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED); |
| 61 | } |
| 62 | |
| 63 | public void stopRollers() { |
| 64 | intakeRoller.set(0); |
| 65 | } |
| 66 | |
| 67 | /*** |
| 68 | * This method gets you the current voltage of the motor that controls the |
| 69 | * intake arm roller. The range of voltage is from [-1,1]. A negative voltage |
| 70 | * makes the motor run backwards. |
| 71 | * |
| 72 | * @return Returns the voltage of the motor that controls the roller. The |
| 73 | * range of the voltage goes from [-1,1]. A negative voltage indicates |
| 74 | * that the motor is running backwards. |
| 75 | */ |
| 76 | |
| 77 | public double getRollerVoltage() { |
| 78 | return intakeRoller.get(); |
| 79 | } |
| 80 | |
| 81 | /*** |
| 82 | * This method checks to see if the presence of the ball inside is true or |
| 83 | * false. |
| 84 | * |
| 85 | * @return Returns whether the ball is inside as true or false |
| 86 | */ |
| 87 | |
| 88 | public boolean isBallInside() { |
| 89 | return true; |
| 90 | } |
| 91 | |
| 92 | /*** |
| 93 | * This method checks to see if the motors controlling the rollers are |
| 94 | * currently running. |
| 95 | * |
| 96 | * @return Returns whether the motors are currently running, and returns the |
| 97 | * state of the condition (true or false). |
| 98 | * |
| 99 | */ |
| 100 | |
| 101 | public boolean areRollersRolling() { |
| 102 | if (Math.abs(getRollerVoltage()) < 0.02) |
| 103 | return false; |
| 104 | return true; |
| 105 | } |
| 106 | |
| 107 | @Override |
| 108 | protected void initDefaultCommand() { |
| 109 | |
| 110 | } |
| 111 | } |