1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
5 import edu
.wpi
.first
.wpilibj
.CANTalon
;
6 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
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.
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
22 public class IntakeArm
extends Subsystem
{
23 private CANTalon intake
;
24 private CANTalon chevalDeFriseHand
;
27 intake
= new CANTalon(Constants
.IntakeArm
.PORT
);
28 chevalDeFriseHand
= new CANTalon(Constants
.IntakeArm
.CHEVAL_DE_FRISE_HAND_PORT
);
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
36 * Must be used in a command that has a timer variable to stop it.
38 public void dropIntake() {
42 public void intake() {
43 intake
.set(Constants
.IntakeArm
.INTAKE_SPEED
);
46 public void output() {
47 intake
.set(Constants
.IntakeArm
.OUTPUT_SPEED
);
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.
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
61 public void setRollerVoltage(double voltage
) {
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.
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.
75 public double getRollerVoltage() {
80 * This method checks to see if the presence of the ball inside is true or
83 * @return Returns whether the ball is inside as true or false
86 public boolean isBallInside() {
93 * >>>>>>> reset to unix format
95 * This method checks to see if the motors controlling the rollers are
98 * @return Returns whether the motors are currently running, and returns the
99 * state of the condition (true or false).
100 * >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and
104 public boolean areRollersRolling() {
109 protected void initDefaultCommand() {