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.INTAKE_ROLLER_PORT);
  29
  30     leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_INTAKE_MODULE,
  31         Constants.IntakeArm.LEFT_INTAKE_FORWARD,
  32         Constants.IntakeArm.LEFT_INTAKE_REVERSE);
  33
  34     rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_INTAKE_MODULE,
  35         Constants.IntakeArm.RIGHT_INTAKE_FORWARD,
  36         Constants.IntakeArm.RIGHT_INTAKE_REVERSE);
  37   }
  38
  39   public void retractPistons() {
  40     leftIntake.set(Constants.IntakeArm.RETRACT);
  41     rightIntake.set(Constants.IntakeArm.RETRACT);
  42   }
  43
  44   public void extendPistons() {
  45     leftIntake.set(Constants.IntakeArm.EXTEND);
  46     rightIntake.set(Constants.IntakeArm.EXTEND);
  47   }
  48
  49   /***
  50    * This method sets the voltage of the motor to intake the ball. The voltage
  51    * values are constants in Constants class
  52    */
  53   public void intakeBall() {
  54     intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
  55   }
  56
  57   /***
  58    * This method sets the voltage of the motor to output the ball. The voltage
  59    * values are constants in Constants class
  60    */
  61   public void outputBall() {
  62     intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
  63   }
  64
  65   public void stopRollers() {
  66     intakeRoller.set(0);
  67   }
  68
  69   /***
  70    * This method gets you the current voltage of the motor that controls the
  71    * intake arm roller. The range of voltage is from [-1,1]. A negative voltage
  72    * makes the motor run backwards.
  73    *
  74    * @return Returns the voltage of the motor that controls the roller. The
  75    *         range of the voltage goes from [-1,1]. A negative voltage indicates
  76    *         that the motor is running backwards.
  77    */
  78
  79   public double getRollerVoltage() {
  80     return intakeRoller.get();
  81   }
  82
  83   /***
  84    * This method checks to see if the presence of the ball inside is true or
  85    * false.
  86    *
  87    * @return Returns whether the ball is inside as true or false
  88    */
  89
  90   public boolean isBallInside() {
  91     return true;
  92   }
  93
  94   /***
  95    * This method checks to see if the motors controlling the rollers are
  96    * currently running.
  97    *
  98    * @return Returns whether the motors are currently running, and returns the
  99    *         state of the condition (true or false).
 100    *
 101    */
 102
 103   public boolean areRollersRolling() {
 104     if (Math.abs(getRollerVoltage()) < 0.02)
 105       return false;
 106     return true;
 107   }
 108
 109   @Override
 110   protected void initDefaultCommand() {
 111
 112   }
 113 }