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