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.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   /***
  38    * This method sets the voltage of the motor to intake the ball. The voltage
  39    * values are constants in Constants class
  40    */
  41   public void intakeBall() {
  42     intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
  43   }
  44
  45   /***
  46    * This method sets the voltage of the motor to output the ball. The voltage
  47    * values are constants in Constants class
  48    */
  49   public void outputBall() {
  50     intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
  51   }
  52
  53   public void stopRollers() {
  54     intakeRoller.set(0);
  55   }
  56
  57   /***
  58    * This method gets you the current voltage of the motor that controls the
  59    * intake arm roller. The range of voltage is from [-1,1]. A negative voltage
  60    * makes the motor run backwards.
  61    *
  62    * @return Returns the voltage of the motor that controls the roller. The
  63    *         range of the voltage goes from [-1,1]. A negative voltage indicates
  64    *         that the motor is running backwards.
  65    */
  66
  67   public double getRollerVoltage() {
  68     return intakeRoller.get();
  69   }
  70
  71   /***
  72    * This method checks to see if the presence of the ball inside is true or
  73    * false.
  74    *
  75    * @return Returns whether the ball is inside as true or false
  76    */
  77
  78   public boolean isBallInside() {
  79     return true;
  80   }
  81
  82   /***
  83    * This method checks to see if the motors controlling the rollers are
  84    * currently running.
  85    *
  86    * @return Returns whether the motors are currently running, and returns the
  87    *         state of the condition (true or false).
  88    *
  89    */
  90
  91   public boolean areRollersRolling() {
  92     if (Math.abs(getRollerVoltage()) < 0.02)
  93       return false;
  94     return true;
  95   }
  96
  97   @Override
  98   protected void initDefaultCommand() {
  99
 100   }
 101 }