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.ROLLER_PORT);
  28     intakeArm = new CANTalon(Constants.IntakeArm.INTAKE_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   /***
  40    * These two methods (intakeBall and outputBall)sets the voltage of the motor.
  41    * The voltage values are constants in Constants class
  42    */
  43   public void intakeBall() {
  44     intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
  45   }
  46
  47   public void outputBall() {
  48     intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
  49   }
  50
  51   /***
  52    * This method gets you the current voltage of the motor that controls the
  53    * intake arm roller. The range of voltage is from [-1,1].
  54    * A negative voltage makes the motor run backwards.
  55    *
  56    * @return Returns the voltage of the motor that controls the roller. The
  57    *         range of the voltage goes from [-1,1].
  58    *         A negative voltage indicates that the motor is running backwards.
  59    */
  60
  61   public double getRollerVoltage() {
  62     return intakeRoller.get();
  63   }
  64
  65   /***
  66    * This method sets the voltage of the arm motor. The range is from [-1,1]. A
  67    * negative voltage makes the direction of the motor go backwards.
  68    *
  69    * @param voltage
  70    *          The voltage that you set the motor at. The range of the voltage of
  71    *          the arm motor is from [-1,1]. A
  72    *          negative voltage makes the direction of the motor go backwards.
  73    */
  74
  75   public void setArmVoltage(double voltage) {
  76     if (voltage > 1)
  77       voltage = 1;
  78     else if (voltage < -1)
  79       voltage = -1;
  80
  81     intakeArm.set(voltage);
  82   }
  83
  84   /***
  85    * This method gets you the current voltage of the motor that controls the
  86    * intake arm. The range of voltage is from [-1,1].
  87    * A negative voltage makes the motor run backwards.
  88    *
  89    * @return Returns the voltage of the motor that controls the arm. The
  90    *         range of the voltage goes from [-1,1].
  91    *         A negative voltage indicates that the motor is running backwards.
  92    */
  93
  94   public double getArmVoltage() {
  95     return intakeArm.get();
  96   }
  97
  98   /***
  99    * This method checks to see if the presence of the ball inside is true or
 100    * false.
 101    *
 102    * @return Returns whether the ball is inside as true or false
 103    */
 104
 105   public boolean isBallInside() {
 106     return true;
 107   }
 108
 109   /***
 110    * This method checks to see if the motors controlling the rollers are
 111    * currently running.
 112    *
 113    * @return Returns whether the motors are currently running, and returns the
 114    *         state of the condition (true or false).
 115    *
 116    */
 117
 118   public boolean areRollersRolling() {
 119     return true;
 120   }
 121
 122   /***
 123    * This method gets the angle of the potentiometer on the Intake Arm.
 124    *
 125    * @return angle of potentiometer
 126    */
 127   public double getIntakePot() {
 128     return intakePot.get();
 129   }
 130
 131   @Override
 132   protected void initDefaultCommand() {
 133
 134   }
 135 }