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    * <<<<<<< e3056e0d68d3b4150b81db56c6685c399cb9c37a
  67    * <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
  68    * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
  69    * This method gets you the current speed of the motor that controls the
  70    * motor. The range of speed is from [-1,1]. A negative speed changes the
  71    * direction of the motor, making it run backwards.
  72    *
  73    * @return Returns the speed of the motor that controls the roller. The range
  74    *         of the motor goes from [-1,1]. A negative speed changes the
  75    *         direction of the motor, making it go backwards.
  76    *         =======
  77    *
  78    * @return
  79    *         >>>>>>> reset to unix format
  80    *         =======
  81    *         This method gets you the current speed of the motor that controls
  82    *         the
  83    *         motor. The range of speed is from [-1,1]. A negative speed changes
  84    *         the
  85    *         direction of the motor, making it run backwards.
  86    *
  87    * @return Returns the speed of the motor that controls the roller. The range
  88    *         of the motor goes from [-1,1]. A negative speed changes the
  89    *         direction of the motor, making it go backwards.
  90    *         >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and
  91    *         areRollersRolling
  92    *         =======
  93    *         This method gets you the current voltage of the motor that controls
  94    *         the
  95    *         motor. The range of voltage is from [-1,1]. A negative voltage
  96    *         makes the
  97    *         motor
  98    *         run backwards.
  99    *
 100    * @return Returns the voltage of the motor that controls the roller. The
 101    *         range
 102    *         of the motor goes from [-1,1]. A negative voltage indicates that
 103    *         the
 104    *         motor is running backwards.
 105    *         >>>>>>> add class level comment and change speed to voltage
 106    */
 107
 108   public double getRollerVoltage() {
 109     return 0;
 110   }
 111
 112   /***
 113    * <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
 114    * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
 115    * This method checks to see if the motors controlling the rollers are
 116    * currently working.
 117    *
 118    * @return Returns whether the motors are currently running, and returns the
 119    *         state of the condition (true or false).
 120    *         =======
 121    *
 122    * @return
 123    */
 124
 125   public boolean isBallInside() {
 126     return true;
 127   }
 128
 129   /***
 130    *
 131    * @return
 132    *         >>>>>>> reset to unix format
 133    *         =======
 134    *         This method checks to see if the motors controlling the rollers are
 135    *         currently running.
 136    *
 137    * @return Returns whether the motors are currently running, and returns the
 138    *         state of the condition (true or false).
 139    *         >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and
 140    *         areRollersRolling
 141    */
 142
 143   public boolean areRollersRolling() {
 144     return true;
 145   }
 146
 147   @Override
 148   protected void initDefaultCommand() {
 149
 150   }
 151 }