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