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
  10   private CANTalon intake;
  11   private CANTalon chevalDeFriseHand;
  12
  13   public IntakeArm() {
  14     intake = new CANTalon(Constants.IntakeArm.PORT);
  15     chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT);
  16   }
  17
  18   /*
  19    * Intake only moves once at the beginning of the match. It lowers at the
  20    * beginning of the match and is held there by mechanical stops until the end
  21    * of the match.
  22    *
  23    * Must be used in a command that has a timer variable to stop it.
  24    */
  25   public void dropIntake() {
  26     intake.set(0.3);
  27   }
  28
  29   public void intake() {
  30     intake.set(Constants.IntakeArm.INTAKE_SPEED);
  31   }
  32
  33   public void output() {
  34     intake.set(Constants.IntakeArm.OUTPUT_SPEED);
  35   }
  36
  37   /***
  38    * This method allows you to set the speed of the motor. The range of speed
  39    * is from [-1, 1]. A negative speed changes the direction of the motors,
  40    * making it run backwards.
  41    *
  42    * @param speed
  43    *          The speed of the motors that control the rollers. The range of
  44    *          these motors go from [-1,1]. A negative speed changes the
  45    *          direction of the motors, making it run backwards.
  46    */
  47
  48   public void setRollerSpeed(double speed) {
  49
  50   }
  51
  52   /***
  53    * This method gets you the current speed of the motor that controls the
  54    * motor. The range of speed is from [-1,1]. A negative speed changes the
  55    * direction of the motor, making it run backwards.
  56    *
  57    * @return Returns the speed of the motor that controls the roller. The range
  58    *         of the motor goes from [-1,1]. A negative speed changes the
  59    *         direction of the motor, making it go backwards.
  60    */
  61
  62   public double getRollerSpeed() {
  63     return 0;
  64   }
  65
  66   /***
  67    * This method checks to see if the motors controlling the rollers are
  68    * currently working.
  69    *
  70    * @return Returns whether the motors are currently running, and returns the
  71    *         state of the condition (true or false).
  72    */
  73
  74   public boolean areRollersRolling() {
  75     return true;
  76   }
  77
  78   @Override
  79   protected void initDefaultCommand() {
  80
  81   }
  82 }