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.AnalogPotentiometer;
   6 import edu.wpi.first.wpilibj.CANTalon;
   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 CANTalon intakeArm;
  25   private AnalogPotentiometer intakePot;
  26   public static double[] potAngles = { 0, 30, 45, 90 }; // TODO: correct angles
  27   public static double moveIntakeArmSpeed = 0;
  28
  29   public IntakeArm() {
  30     intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
  31     intakeArm = new CANTalon(Constants.IntakeArm.ARM_PORT);
  32     intakePot = new AnalogPotentiometer(Constants.IntakeArm.POT_CHANNEL,
  33         Constants.IntakeArm.FULL_RANGE, Constants.IntakeArm.OFFSET);
  34   }
  35
  36   /***
  37    * This method sets the voltage of the motor to intake the ball. The voltage
  38    * values are constants in Constants class
  39    */
  40   public void intakeBall() {
  41     intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
  42   }
  43
  44   /***
  45    * This method sets the voltage of the motor to output the ball. The voltage
  46    * values are constants in Constants class
  47    */
  48   public void outputBall() {
  49     intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
  50   }
  51
  52   public void stopRollers() {
  53     intakeRoller.set(0);
  54   }
  55
  56   /***
  57    * This method gets you the current voltage of the motor that controls the
  58    * intake arm roller. The range of voltage is from [-1,1]. A negative voltage
  59    * makes the motor run backwards.
  60    *
  61    * @return Returns the voltage of the motor that controls the roller. The
  62    *         range of the voltage goes from [-1,1]. A negative voltage indicates
  63    *         that the motor is running backwards.
  64    */
  65
  66   public double getRollerVoltage() {
  67     return intakeRoller.get();
  68   }
  69
  70   /***
  71    * This method sets the voltage of the arm motor. The range is from [-1,1]. A
  72    * negative voltage makes the direction of the motor go backwards.
  73    *
  74    * @param voltage
  75    *          The voltage that you set the motor at. The range of the voltage of
  76    *          the arm motor is from [-1,1]. A negative voltage makes the
  77    *          direction of the motor go backwards.
  78    */
  79
  80   public void setArmSpeed(double voltage) {
  81     if (voltage > 1)
  82       voltage = 1;
  83     else if (voltage < -1)
  84       voltage = -1;
  85
  86     intakeArm.set(voltage);
  87   }
  88
  89   /***
  90    * This method gets you the current voltage of the motor that controls the
  91    * intake arm. The range of voltage is from [-1,1]. A negative voltage makes
  92    * the motor run backwards.
  93    *
  94    * @return Returns the voltage of the motor that controls the arm. The range
  95    *         of the voltage goes from [-1,1]. A negative voltage indicates that
  96    *         the motor is running backwards.
  97    */
  98
  99   public double getArmSpeed() {
 100     return intakeArm.get();
 101   }
 102
 103   /***
 104    * This method checks to see if the presence of the ball inside is true or
 105    * false.
 106    *
 107    * @return Returns whether the ball is inside as true or false
 108    */
 109
 110   public boolean isBallInside() {
 111     return true;
 112   }
 113
 114   /***
 115    * This method checks to see if the motors controlling the rollers are
 116    * currently running.
 117    *
 118    * @return Returns whether the motors are currently running, and returns the
 119    *         state of the condition (true or false).
 120    *
 121    */
 122
 123   public boolean areRollersRolling() {
 124     if (Math.abs(getRollerVoltage()) < 0.02)
 125       return false;
 126     return true;
 127   }
 128
 129   /***
 130    * This method gets the angle of the potentiometer on the Intake Arm.
 131    *
 132    * @return angle of potentiometer
 133    */
 134
 135   public double getArmAngle() {
 136     return intakePot.get() + Constants.IntakeArm.ZERO_ANGLE;
 137   }
 138
 139   public void stop() {
 140     setArmSpeed(0);
 141   }
 142
 143   public double getAngleForLevel(double targetLevel) {
 144     return potAngles[(int) (targetLevel - 1)];
 145   }
 146
 147   @Override
 148   protected void initDefaultCommand() {
 149
 150   }
 151 }