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   private CANTalon intake;
  10   private CANTalon chevalDeFriseHand;
  11
  12   public IntakeArm() {
  13     intake = new CANTalon(Constants.IntakeArm.PORT);
  14     chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT);
  15   }
  16
  17   /*
  18    * Intake only moves once at the beginning of the match. It lowers at the
  19    * beginning of the match and is held there by mechanical stops until the end
  20    * of the match.
  21    *
  22    * Must be used in a command that has a timer variable to stop it.
  23    */
  24   public void dropIntake() {
  25     intake.set(0.3);
  26   }
  27
  28   public void intake() {
  29     intake.set(Constants.IntakeArm.INTAKE_SPEED);
  30   }
  31
  32   public void output() {
  33     intake.set(Constants.IntakeArm.OUTPUT_SPEED);
  34   }
  35
  36   /***
  37    * This method allows you to set the speed of the motor. The range of speed
  38    * is from [-1, 1]. A negative speed changes the direction of the motors,
  39    * making it run backwards.
  40    *
  41 <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
  42    * @param speed
  43    *          The speed of the motors that control the rollers. The range of
  44    *          these motors go from [-1,1]. A negative speed changes the
  45    *          direction of the motors, making it run backwards.
  46    *          =======
  47    *          public IntakeArm() {
  48    *
  49    *          }
  50    *
  51    *          /***
  52    *          This method allows you to set the speed of the motor(s). The range
  53    *          of speed
  54    *          is from [-1, 1]. A negative speed changes the direction of the
  55    *          motors.
  56    *
  57    * @param speed
  58    *          The speed of the motors that control the rollers. The range of
  59    *          these motors go from [-1,1]. A negative speed changes the
  60    *          direction of the motors.
  61    *          >>>>>>> reset to unix format
  62 =======
  63    * @param speed
  64    *          The speed of the motors that control the rollers. The range of
  65    *          these motors go from [-1,1]. A negative speed changes the
  66    *          direction of the motors, making it run backwards.
  67 >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
  68    */
  69
  70   public void setRollerSpeed(double speed) {
  71
  72   }
  73
  74   /***
  75 <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
  76    * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
  77    * This method gets you the current speed of the motor that controls the
  78    * motor. The range of speed is from [-1,1]. A negative speed changes the
  79    * direction of the motor, making it run backwards.
  80    *
  81    * @return Returns the speed of the motor that controls the roller. The range
  82    *         of the motor goes from [-1,1]. A negative speed changes the
  83    *         direction of the motor, making it go backwards.
  84    *         =======
  85    *
  86    * @return
  87    *         >>>>>>> reset to unix format
  88 =======
  89    * This method gets you the current speed of the motor that controls the
  90    * motor. The range of speed is from [-1,1]. A negative speed changes the
  91    * direction of the motor, making it run backwards.
  92    *
  93    * @return Returns the speed of the motor that controls the roller. The range
  94    *         of the motor goes from [-1,1]. A negative speed changes the
  95    *         direction of the motor, making it go backwards.
  96 >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
  97    */
  98
  99   public double getRollerSpeed() {
 100     return 0;
 101   }
 102
 103   /***
 104 <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
 105    * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
 106    * This method checks to see if the motors controlling the rollers are
 107    * currently working.
 108    *
 109    * @return Returns whether the motors are currently running, and returns the
 110    *         state of the condition (true or false).
 111    *         =======
 112    *
 113    * @return
 114    */
 115
 116   public boolean isBallInside() {
 117     return true;
 118   }
 119
 120   /***
 121    *
 122    * @return
 123    *         >>>>>>> reset to unix format
 124 =======
 125    * This method checks to see if the motors controlling the rollers are
 126    * currently working.
 127    *
 128    * @return Returns whether the motors are currently running, and returns the
 129    *         state of the condition (true or false).
 130 >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
 131    */
 132
 133   public boolean areRollersRolling() {
 134     return true;
 135   }
 136
 137   @Override
 138   protected void initDefaultCommand() {
 139
 140   }
 141 }