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.CANTalon;
   6 import edu.wpi.first.wpilibj.command.Subsystem;
   7
   8 /***
   9  * The IntakeArm consists of two rollers that are controlled by one motor. The
  10  * class is deployed using a command that accelerates the robot forward and
  11  * gravity pushes the arm down. After the IntakeArm is pushed down by gravity,
  12  * the arm remains stationary for the rest of the match.
  13  *
  14  * The motor controls the rollers, making them roll forwards and backwards.
  15  * The Intake rollers are on the back of the robot. As the rollers run, they
  16  * intake the ball.
  17  *
  18  * @author superuser
  19  *
  20  */
  21
  22 public class IntakeArm extends Subsystem {
  23   private CANTalon intake;
  24   private CANTalon chevalDeFriseHand;
  25
  26   public IntakeArm() {
  27     intake = new CANTalon(Constants.IntakeArm.PORT);
  28     chevalDeFriseHand = 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   public void dropIntake() {
  39     intake.set(0.3);
  40   }
  41
  42   public void intake() {
  43     intake.set(Constants.IntakeArm.INTAKE_SPEED);
  44   }
  45
  46   public void output() {
  47     intake.set(Constants.IntakeArm.OUTPUT_SPEED);
  48   }
  49
  50   /***
  51    * This method allows you to set the voltage of the motor. The range of
  52    * voltage is from [-1, 1]. A negative voltage makes the motor run backwards.
  53    *
  54    * @param voltage
  55    *          The voltage of the motors that control the rollers. The range of
  56    *          these motors go from [-1,1]. A negative voltage makes the motor
  57    *          run
  58    *          backwards.
  59    */
  60
  61   public void setRollerVoltage(double voltage) {
  62
  63   }
  64
  65   /***
  66    * This method gets you the current voltage of the motor that controls the
  67    * intake arm. The range of voltage is from [-1,1].
  68    * A negative voltage makes the motor run backwards.
  69    *
  70    * @return Returns the voltage of the motor that controls the roller. The
  71    *         range of the voltage goes from [-1,1].
  72    *         A negative voltage indicates that the motor is running backwards.
  73    */
  74
  75   public double getRollerVoltage() {
  76     return 0;
  77   }
  78
  79   /***
  80    * <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
  81    * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
  82    * This method checks to see if the motors controlling the rollers are
  83    * currently working.
  84    *
  85    * @return Returns whether the motors are currently running, and returns the
  86    *         state of the condition (true or false).
  87    *         =======
  88    *
  89    * @return
  90    */
  91
  92   public boolean isBallInside() {
  93     return true;
  94   }
  95
  96   /***
  97    *
  98    * @return
  99    *         >>>>>>> reset to unix format
 100    *         =======
 101    *         This method checks to see if the motors controlling the rollers are
 102    *         currently running.
 103    *
 104    * @return Returns whether the motors are currently running, and returns the
 105    *         state of the condition (true or false).
 106    *         >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and
 107    *         areRollersRolling
 108    */
 109
 110   public boolean areRollersRolling() {
 111     return true;
 112   }
 113
 114   @Override
 115   protected void initDefaultCommand() {
 116
 117   }
 118 }