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.PORT);
  28     intakeArm = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT);
  29   }
  30
  31   /*
  32    * Intake only moves once at the beginning of the match. It lowers at the
  33    * beginning of the match and is held there by mechanical stops until the end
  34    * of the match.
  35    *
  36    * Must be used in a command that has a timer variable to stop it.
  37    */
  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 allows you to set the voltage of the motor. The range of
  49    * voltage is from [-1, 1]. A negative voltage makes the motor run backwards.
  50    *
  51    * @param voltage
  52    *          The voltage of the motors that control the rollers. The range of
  53    *          these motors go from [-1,1]. A negative voltage makes the motor
  54    *          run
  55    *          backwards.
  56    */
  57
  58   public void setRollerVoltage(double voltage) {
  59
  60   }
  61
  62   /***
  63    * This method gets you the current voltage of the motor that controls the
  64    * intake arm. The range of voltage is from [-1,1].
  65    * A negative voltage makes the motor run backwards.
  66    *
  67    * @return Returns the voltage of the motor that controls the roller. The
  68    *         range of the voltage goes from [-1,1].
  69    *         A negative voltage indicates that the motor is running backwards.
  70    */
  71
  72   public double getRollerVoltage() {
  73     return 0;
  74   }
  75
  76   /***
  77    * This method checks to see if the presence of the ball inside is true or
  78    * false.
  79    *
  80    * @return Returns whether the ball is inside as true or false
  81    */
  82
  83   public boolean isBallInside() {
  84     return true;
  85   }
  86
  87   /***
  88    * This method checks to see if the motors controlling the rollers are
  89    * currently running.
  90    *
  91    * @return Returns whether the motors are currently running, and returns the
  92    *         state of the condition (true or false).
  93    *
  94    */
  95
  96   public boolean areRollersRolling() {
  97     return true;
  98   }
  99
 100   /***
 101    * This method gets the angle of the potentiometer on the Intake Arm.
 102    *
 103    * @return angle of potentiometer
 104    */
 105   public double getIntakePot() {
 106     return intakePot.get();
 107   }
 108
 109   @Override
 110   protected void initDefaultCommand() {
 111
 112   }
 113 }