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   public void retractPistons() {
  38     leftIntake.set(Constants.IntakeArm.RETRACT);
  39     rightIntake.set(Constants.IntakeArm.RETRACT);
  40   }
  41
  42   public void extendPistons() {
  43     leftIntake.set(Constants.IntakeArm.EXTEND);
  44     rightIntake.set(Constants.IntakeArm.EXTEND);
  45   }
  46
  47   /***
  48    * This method sets the voltage of the motor to intake the ball. The voltage
  49    * values are constants in Constants class
  50    */
  51   public void intakeBall() {
  52     intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
  53   }
  54
  55   /***
  56    * This method sets the voltage of the motor to output the ball. The voltage
  57    * values are constants in Constants class
  58    */
  59   public void outputBall() {
  60     intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
  61   }
  62
  63   public void stopRollers() {
  64     intakeRoller.set(0);
  65   }
  66
  67   /***
  68    * This method gets you the current voltage of the motor that controls the
  69    * intake arm roller. The range of voltage is from [-1,1]. A negative voltage
  70    * makes the motor run backwards.
  71    *
  72    * @return Returns the voltage of the motor that controls the roller. The
  73    *         range of the voltage goes from [-1,1]. A negative voltage indicates
  74    *         that the motor is running backwards.
  75    */
  76
  77   public double getRollerVoltage() {
  78     return intakeRoller.get();
  79   }
  80
  81   /***
  82    * This method checks to see if the presence of the ball inside is true or
  83    * false.
  84    *
  85    * @return Returns whether the ball is inside as true or false
  86    */
  87
  88   public boolean isBallInside() {
  89     return true;
  90   }
  91
  92   /***
  93    * This method checks to see if the motors controlling the rollers are
  94    * currently running.
  95    *
  96    * @return Returns whether the motors are currently running, and returns the
  97    *         state of the condition (true or false).
  98    *
  99    */
 100
 101   public boolean areRollersRolling() {
 102     if (Math.abs(getRollerVoltage()) < 0.02)
 103       return false;
 104     return true;
 105   }
 106
 107   @Override
 108   protected void initDefaultCommand() {
 109
 110   }
 111 }