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
  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   @Override
  38   protected void initDefaultCommand() {
  39
  40   }
  41 }