1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
5 import edu
.wpi
.first
.wpilibj
.AnalogPotentiometer
;
6 import edu
.wpi
.first
.wpilibj
.CANTalon
;
7 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
10 * The IntakeArm consists of two rollers that are controlled by one motor, with
11 * a potentiometer on it.
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
21 public class IntakeArm
extends Subsystem
{
22 private CANTalon intakeRoller
;
23 private CANTalon intakeArm
;
24 private AnalogPotentiometer intakePot
;
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
);
36 * These two methods (intakeBall and outputBall)sets the voltage of the motor.
37 * The voltage values are constants in Constants class
39 public void intakeBall() {
40 intakeRoller
.set(Constants
.IntakeArm
.INTAKE_SPEED
);
43 public void outputBall() {
44 intakeRoller
.set(Constants
.IntakeArm
.OUTPUT_SPEED
);
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.
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.
57 public double getRollerVoltage() {
58 return intakeRoller
.get();
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.
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.
71 public void setArmVoltage(double voltage
) {
74 else if (voltage
< -1)
77 intakeArm
.set(voltage
);
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.
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.
90 public double getArmVoltage() {
91 return intakeArm
.get();
95 * This method checks to see if the presence of the ball inside is true or
98 * @return Returns whether the ball is inside as true or false
101 public boolean isBallInside() {
106 * This method checks to see if the motors controlling the rollers are
109 * @return Returns whether the motors are currently running, and returns the
110 * state of the condition (true or false).
114 public boolean areRollersRolling() {
119 * This method gets the angle of the potentiometer on the Intake Arm.
121 * @return angle of potentiometer
123 public double getIntakePot() {
124 return intakePot
.get();
128 protected void initDefaultCommand() {