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         private CANTalon intakeRoller;
  23         private CANTalon intakeArm;
  24         private AnalogPotentiometer intakePot;
  25
  26         public IntakeArm() {
  27                 intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
  28                 intakeArm = new CANTalon(Constants.IntakeArm.ARM_PORT);
  29                 intakePot = new AnalogPotentiometer(Constants.IntakeArm.POT_CHANNEL, Constants.IntakeArm.FULL_RANGE,
  30                                 Constants.IntakeArm.OFFSET);
  31         }
  32
  33         /***
  34          * This method sets the voltage of the motor to intake the ball. The voltage
  35          * values are constants in Constants class
  36          */
  37         public void intakeBall() {
  38                 intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
  39         }
  40
  41         /***
  42          * This method sets the voltage of the motor to output the ball. The voltage
  43          * values are constants in Constants class
  44          */
  45         public void outputBall() {
  46                 intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
  47         }
  48
  49         /***
  50          * This method gets you the current voltage of the motor that controls the
  51          * intake arm roller. The range of voltage is from [-1,1]. A negative
  52          * voltage makes the motor run backwards.
  53          *
  54          * @return Returns the voltage of the motor that controls the roller. The
  55          *         range of the voltage goes from [-1,1]. A negative voltage
  56          *         indicates that the motor is running backwards.
  57          */
  58
  59         public double getRollerVoltage() {
  60                 return intakeRoller.get();
  61         }
  62
  63         /***
  64          * This method sets the voltage of the arm motor. The range is from [-1,1].
  65          * A negative voltage makes the direction of the motor go backwards.
  66          *
  67          * @param voltage
  68          *            The voltage that you set the motor at. The range of the
  69          *            voltage of the arm motor is from [-1,1]. A negative voltage
  70          *            makes the direction of the motor go backwards.
  71          */
  72
  73         public void setArmVoltage(double voltage) {
  74                 if (voltage > 1)
  75                         voltage = 1;
  76                 else if (voltage < -1)
  77                         voltage = -1;
  78
  79                 intakeArm.set(voltage);
  80         }
  81
  82         /***
  83          * This method gets you the current voltage of the motor that controls the
  84          * intake arm. The range of voltage is from [-1,1]. A negative voltage makes
  85          * the motor run backwards.
  86          *
  87          * @return Returns the voltage of the motor that controls the arm. The range
  88          *         of the voltage goes from [-1,1]. A negative voltage indicates
  89          *         that the motor is running backwards.
  90          */
  91
  92         public double getArmVoltage() {
  93                 return intakeArm.get();
  94         }
  95
  96         /***
  97          * This method checks to see if the presence of the ball inside is true or
  98          * false.
  99          *
 100          * @return Returns whether the ball is inside as true or false
 101          */
 102
 103         public boolean isBallInside() {
 104                 return true;
 105         }
 106
 107         /***
 108          * This method checks to see if the motors controlling the rollers are
 109          * currently running.
 110          *
 111          * @return Returns whether the motors are currently running, and returns the
 112          *         state of the condition (true or false).
 113          *
 114          */
 115
 116         public boolean areRollersRolling() {
 117                 return true;
 118         }
 119
 120         /***
 121          * This method gets the angle of the potentiometer on the Intake Arm.
 122          *
 123          * @return angle of potentiometer
 124          */
 125         public double getArmAngle() {
 126                 return intakePot.get() + Constants.IntakeArm.ZERO_ANGLE;
 127         }
 128
 129         public double getArmHeight() {
 130                 return Constants.IntakeArm.ARM_LENGTH * Math.sin(getArmAngle());
 131         }
 132
 133         @Override
 134         protected void initDefaultCommand() {
 135
 136         }
 137 }