challenge-bot.com Git - 3501/stronghold-2016/blob - src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java

   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.command.Subsystem;
   7
   8 public class IntakeArm extends Subsystem {
   9   private CANTalon intake;
  10   private CANTalon chevalDeFriseHand;
  11
  12   public IntakeArm() {
  13     intake = new CANTalon(Constants.IntakeArm.PORT);
  14     chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT);
  15   }
  16
  17   /*
  18    * Intake only moves once at the beginning of the match. It lowers at the
  19    * beginning of the match and is held there by mechanical stops until the end
  20    * of the match.
  21    *
  22    * Must be used in a command that has a timer variable to stop it.
  23    */
  24   public void dropIntake() {
  25     intake.set(0.3);
  26   }
  27
  28   public void intake() {
  29     intake.set(Constants.IntakeArm.INTAKE_SPEED);
  30   }
  31
  32   public void output() {
  33     intake.set(Constants.IntakeArm.OUTPUT_SPEED);
  34   }
  35
  36   /***
  37    * This method allows you to set the speed of the motor. The range of speed
  38    * is from [-1, 1]. A negative speed changes the direction of the motors,
  39    * making it run backwards.
  40    *
  41    * @param speed
  42    *          The speed of the motors that control the rollers. The range of
  43    *          these motors go from [-1,1]. A negative speed changes the
  44    *          direction of the motors, making it run backwards.
  45    *          =======
  46    *          public IntakeArm() {
  47    *
  48    *          }
  49    *
  50    *          /***
  51    *          This method allows you to set the speed of the motor(s). The range
  52    *          of speed
  53    *          is from [-1, 1]. A negative speed changes the direction of the
  54    *          motors.
  55    *
  56    * @param speed
  57    *          The speed of the motors that control the rollers. The range of
  58    *          these motors go from [-1,1]. A negative speed changes the
  59    *          direction of the motors.
  60    *          >>>>>>> reset to unix format
  61    */
  62
  63   public void setRollerSpeed(double speed) {
  64
  65   }
  66
  67   /***
  68    * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
  69    * This method gets you the current speed of the motor that controls the
  70    * motor. The range of speed is from [-1,1]. A negative speed changes the
  71    * direction of the motor, making it run backwards.
  72    *
  73    * @return Returns the speed of the motor that controls the roller. The range
  74    *         of the motor goes from [-1,1]. A negative speed changes the
  75    *         direction of the motor, making it go backwards.
  76    *         =======
  77    *
  78    * @return
  79    *         >>>>>>> reset to unix format
  80    */
  81
  82   public double getRollerSpeed() {
  83     return 0;
  84   }
  85
  86   /***
  87    * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
  88    * This method checks to see if the motors controlling the rollers are
  89    * currently working.
  90    *
  91    * @return Returns whether the motors are currently running, and returns the
  92    *         state of the condition (true or false).
  93    *         =======
  94    *
  95    * @return
  96    */
  97
  98   public boolean isBallInside() {
  99     return true;
 100   }
 101
 102   /***
 103    *
 104    * @return
 105    *         >>>>>>> reset to unix format
 106    */
 107
 108   public boolean areRollersRolling() {
 109     return true;
 110   }
 111
 112   @Override
 113   protected void initDefaultCommand() {
 114
 115   }
 116 }