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
  23   private CANTalon intakeRoller;
  24   private CANTalon intakeArm;
  25   private AnalogPotentiometer intakePot;
  26   private double[] potAngles = { 0, 45, 90 };
  27
  28   public IntakeArm() {
  29     intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
  30     intakeArm = new CANTalon(Constants.IntakeArm.ARM_PORT);
  31     intakePot = new AnalogPotentiometer(Constants.IntakeArm.POT_CHANNEL,
  32         Constants.IntakeArm.FULL_RANGE, Constants.IntakeArm.OFFSET);
  33
  34   }
  35
  36   /***
  37    * This method sets the voltage of the motor to intake the ball. The voltage
  38    * values are constants in Constants class
  39    */
  40   public void intakeBall() {
  41     intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
  42   }
  43
  44   /***
  45    * This method sets the voltage of the motor to output the ball. The voltage
  46    * values are constants in Constants class
  47    */
  48   public void outputBall() {
  49     intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
  50   }
  51
  52   /***
  53    * This method gets you the current voltage of the motor that controls the
  54    * intake arm roller. The range of voltage is from [-1,1]. A negative voltage
  55    * makes the motor run backwards.
  56    *
  57    * @return Returns the voltage of the motor that controls the roller. The
  58    *         range of the voltage goes from [-1,1]. A negative voltage indicates
  59    *         that the motor is running backwards.
  60    */
  61
  62   public double getRollerVoltage() {
  63     return intakeRoller.get();
  64   }
  65
  66   /***
  67    * This method sets the voltage of the arm motor. The range is from [-1,1]. A
  68    * negative voltage makes the direction of the motor go backwards.
  69    *
  70    * @param voltage
  71    *          The voltage that you set the motor at. The range of the voltage of
  72    *          the arm motor is from [-1,1]. A negative voltage makes the
  73    *          direction of the motor go backwards.
  74    */
  75
  76   public void setArmSpeed(double voltage) {
  77     if (voltage > 1)
  78       voltage = 1;
  79     else if (voltage < -1)
  80       voltage = -1;
  81
  82     intakeArm.set(voltage);
  83   }
  84
  85   /***
  86    * This method gets you the current voltage of the motor that controls the
  87    * intake arm. The range of voltage is from [-1,1]. A negative voltage makes
  88    * the motor run backwards.
  89    *
  90    * @return Returns the voltage of the motor that controls the arm. The range
  91    *         of the voltage goes from [-1,1]. A negative voltage indicates that
  92    *         the motor is running backwards.
  93    */
  94
  95   public double getArmSpeed() {
  96     return intakeArm.get();
  97   }
  98
  99   /***
 100    * This method checks to see if the presence of the ball inside is true or
 101    * false.
 102    *
 103    * @return Returns whether the ball is inside as true or false
 104    */
 105
 106   public boolean isBallInside() {
 107     return true;
 108   }
 109
 110   /***
 111    * This method checks to see if the motors controlling the rollers are
 112    * currently running.
 113    *
 114    * @return Returns whether the motors are currently running, and returns the
 115    *         state of the condition (true or false).
 116    *
 117    */
 118
 119   public boolean areRollersRolling() {
 120     return true;
 121   }
 122
 123   /***
 124    * This method gets the angle of the potentiometer on the Intake Arm.
 125    *
 126    * @return angle of potentiometer
 127    */
 128
 129   public double getArmAngle() {
 130     return intakePot.get() + Constants.IntakeArm.ZERO_ANGLE;
 131   }
 132
 133   public void stop() {
 134     setArmSpeed(0);
 135   }
 136
 137   public double getAngleForLevel(double targetLevel) {
 138     return potAngles[(int) (targetLevel - 1)];
 139   }
 140
 141   @Override
 142   protected void initDefaultCommand() {
 143
 144   }
 145 }