1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
5 import edu
.wpi
.first
.wpilibj
.CANTalon
;
6 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
9 * The IntakeArm consists of two rollers that are controlled by one motor. The
10 * class is deployed using a command that accelerates the robot forward and
11 * gravity pushes the arm down. After the IntakeArm is pushed down by gravity,
12 * the arm remains stationary for the rest of the match.
14 * The motor controls the rollers, making them roll forwards and backwards.
15 * The Intake rollers are on the back of the robot. As the rollers run, they
22 public class IntakeArm
extends Subsystem
{
23 private CANTalon intake
;
24 private CANTalon chevalDeFriseHand
;
27 intake
= new CANTalon(Constants
.IntakeArm
.PORT
);
28 chevalDeFriseHand
= new CANTalon(Constants
.IntakeArm
.CHEVAL_DE_FRISE_HAND_PORT
);
32 * Intake only moves once at the beginning of the match. It lowers at the
33 * beginning of the match and is held there by mechanical stops until the end
36 * Must be used in a command that has a timer variable to stop it.
38 public void dropIntake() {
42 public void intake() {
43 intake
.set(Constants
.IntakeArm
.INTAKE_SPEED
);
46 public void output() {
47 intake
.set(Constants
.IntakeArm
.OUTPUT_SPEED
);
51 * This method allows you to set the voltage of the motor. The range of
52 * voltage is from [-1, 1]. A negative voltage makes the motor run backwards.
54 <<<<<<< e3056e0d68d3b4150b81db56c6685c399cb9c37a
55 <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
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, making it run backwards.
61 * public IntakeArm() {
66 * This method allows you to set the speed of the motor(s). The range
68 * is from [-1, 1]. A negative speed changes the direction of the
72 * The speed of the motors that control the rollers. The range of
73 * these motors go from [-1,1]. A negative speed changes the
74 * direction of the motors.
75 * >>>>>>> reset to unix format
78 * The speed of the motors that control the rollers. The range of
79 * these motors go from [-1,1]. A negative speed changes the
80 * direction of the motors, making it run backwards.
81 >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
84 * The voltage of the motors that control the rollers. The range of
85 * these motors go from [-1,1]. A negative voltage makes the motor
88 >>>>>>> add class level comment and change speed to voltage
91 public void setRollerVoltage(double voltage
) {
96 <<<<<<< e3056e0d68d3b4150b81db56c6685c399cb9c37a
97 <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
98 * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
99 * This method gets you the current speed of the motor that controls the
100 * motor. The range of speed is from [-1,1]. A negative speed changes the
101 * direction of the motor, making it run backwards.
103 * @return Returns the speed of the motor that controls the roller. The range
104 * of the motor goes from [-1,1]. A negative speed changes the
105 * direction of the motor, making it go backwards.
109 * >>>>>>> reset to unix format
111 * This method gets you the current speed of the motor that controls the
112 * motor. The range of speed is from [-1,1]. A negative speed changes the
113 * direction of the motor, making it run backwards.
115 * @return Returns the speed of the motor that controls the roller. The range
116 * of the motor goes from [-1,1]. A negative speed changes the
117 * direction of the motor, making it go backwards.
118 >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
120 * This method gets you the current voltage of the motor that controls the
121 * motor. The range of voltage is from [-1,1]. A negative voltage makes the
125 * @return Returns the voltage of the motor that controls the roller. The
127 * of the motor goes from [-1,1]. A negative voltage indicates that
129 * motor is running backwards.
130 >>>>>>> add class level comment and change speed to voltage
133 public double getRollerVoltage() {
138 <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
139 * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
140 * This method checks to see if the motors controlling the rollers are
143 * @return Returns whether the motors are currently running, and returns the
144 * state of the condition (true or false).
150 public boolean isBallInside() {
157 * >>>>>>> reset to unix format
159 * This method checks to see if the motors controlling the rollers are
162 * @return Returns whether the motors are currently running, and returns the
163 * state of the condition (true or false).
164 >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
167 public boolean areRollersRolling() {
172 protected void initDefaultCommand() {