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 /***
   9  * The IntakeArm consists of two rollers that are controlled by one motor, with
  10  * a potentiometer on it.
  11  *
  12  * The motor controls the rollers, making them roll forwards and backwards.
  13  * The Intake rollers are on the back of the robot. As the rollers run, they
  14  * intake the ball.
  15  *
  16  * @author superuser
  17  *
  18  */
  19
  20 public class IntakeArm extends Subsystem {
  21   private CANTalon intake;
  22   private CANTalon chevalDeFriseHand;
  23
  24   public IntakeArm() {
  25     intake = new CANTalon(Constants.IntakeArm.PORT);
  26     chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT);
  27   }
  28
  29   /*
  30    * Intake only moves once at the beginning of the match. It lowers at the
  31    * beginning of the match and is held there by mechanical stops until the end
  32    * of the match.
  33    *
  34    * Must be used in a command that has a timer variable to stop it.
  35    */
  36   public void dropIntake() {
  37     intake.set(0.3);
  38   }
  39
  40   public void intake() {
  41     intake.set(Constants.IntakeArm.INTAKE_SPEED);
  42   }
  43
  44   public void output() {
  45     intake.set(Constants.IntakeArm.OUTPUT_SPEED);
  46   }
  47
  48   /***
  49    * This method allows you to set the voltage of the motor. The range of
  50    * voltage is from [-1, 1]. A negative voltage makes the motor run backwards.
  51    *
  52    * @param voltage
  53    *          The voltage of the motors that control the rollers. The range of
  54    *          these motors go from [-1,1]. A negative voltage makes the motor
  55    *          run
  56    *          backwards.
  57    */
  58
  59   public void setRollerVoltage(double voltage) {
  60
  61   }
  62
  63   /***
  64    * This method gets you the current voltage of the motor that controls the
  65    * intake arm. The range of voltage is from [-1,1].
  66    * A negative voltage makes the motor run backwards.
  67    *
  68    * @return Returns the voltage of the motor that controls the roller. The
  69    *         range of the voltage goes from [-1,1].
  70    *         A negative voltage indicates that the motor is running backwards.
  71    */
  72
  73   public double getRollerVoltage() {
  74     return 0;
  75   }
  76
  77   /***
  78    * This method checks to see if the presence of the ball inside is true or
  79    * false.
  80    *
  81    * @return Returns whether the ball is inside as true or false
  82    */
  83
  84   public boolean isBallInside() {
  85     return true;
  86   }
  87
  88   /***
  89    * This method checks to see if the motors controlling the rollers are
  90    * currently running.
  91    *
  92    * @return Returns whether the motors are currently running, and returns the
  93    *         state of the condition (true or false).
  94    *
  95    */
  96
  97   public boolean areRollersRolling() {
  98     return true;
  99   }
 100
 101   @Override
 102   protected void initDefaultCommand() {
 103
 104   }
 105 }