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   public boolean isExtended() {
  50     return (leftIntake.get() == Constants.IntakeArm.EXTEND
  51         && rightIntake.get() == Constants.IntakeArm.EXTEND);
  52   }
  53
  54   /***
  55    * This method sets the voltage of the motor to intake the ball. The voltage
  56    * values are constants in Constants class
  57    */
  58   public void intakeBall() {
  59     intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
  60   }
  61
  62   /***
  63    * This method sets the voltage of the motor to output the ball. The voltage
  64    * values are constants in Constants class
  65    */
  66   public void outputBall() {
  67     intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
  68   }
  69
  70   public void stopRollers() {
  71     intakeRoller.set(0);
  72   }
  73
  74   /***
  75    * This method gets you the current voltage of the motor that controls the
  76    * intake arm roller. The range of voltage is from [-1,1]. A negative voltage
  77    * makes the motor run backwards.
  78    *
  79    * @return Returns the voltage of the motor that controls the roller. The
  80    *         range of the voltage goes from [-1,1]. A negative voltage indicates
  81    *         that the motor is running backwards.
  82    */
  83
  84   public double getRollerVoltage() {
  85     return intakeRoller.get();
  86   }
  87
  88   /***
  89    * This method checks to see if the presence of the ball inside is true or
  90    * false.
  91    *
  92    * @return Returns whether the ball is inside as true or false
  93    */
  94
  95   public boolean isBallInside() {
  96     return true;
  97   }
  98
  99   /***
 100    * This method checks to see if the motors controlling the rollers are
 101    * currently running.
 102    *
 103    * @return Returns whether the motors are currently running, and returns the
 104    *         state of the condition (true or false).
 105    *
 106    */
 107
 108   public boolean areRollersRolling() {
 109     if (Math.abs(getRollerVoltage()) < 0.02)
 110       return false;
 111     return true;
 112   }
 113
 114   @Override
 115   protected void initDefaultCommand() {
 116
 117   }
 118 }