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         private CANTalon intakeRoller;
  23         private CANTalon intakeArm;
  24         private AnalogPotentiometer intakePot;
  25         private double[] potAngles = { 0, 45, 90 };
  26
  27         public IntakeArm() {
  28                 intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
  29                 intakeArm = new CANTalon(Constants.IntakeArm.ARM_PORT);
  30                 intakePot = new AnalogPotentiometer(Constants.IntakeArm.POT_CHANNEL, Constants.IntakeArm.FULL_RANGE,
  31                                 Constants.IntakeArm.OFFSET);
  32
  33         }
  34
  35         /***
  36          * This method sets the voltage of the motor to intake the ball. The voltage
  37          * values are constants in Constants class
  38          */
  39         public void intakeBall() {
  40                 intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
  41         }
  42
  43         /***
  44          * This method sets the voltage of the motor to output the ball. The voltage
  45          * values are constants in Constants class
  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]. A negative
  54          * 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]. A negative voltage
  58          *         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].
  67          * A 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
  71          *            voltage of the arm motor is from [-1,1]. A negative voltage
  72          *            makes the direction of the motor go backwards.
  73          */
  74
  75         public void setArmSpeed(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]. A negative voltage makes
  87          * the motor run backwards.
  88          *
  89          * @return Returns the voltage of the motor that controls the arm. The range
  90          *         of the voltage goes from [-1,1]. A negative voltage indicates
  91          *         that the motor is running backwards.
  92          */
  93
  94         public double getArmSpeed() {
  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
 128         public double getArmAngle() {
 129                 return intakePot.get() + Constants.IntakeArm.ZERO_ANGLE;
 130         }
 131
 132         public void stop() {
 133                 setArmSpeed(0);
 134         }
 135
 136         public double getAngleForLevel(double targetLevel) {
 137                 return potAngles[(int) (targetLevel - 1)];
 138         }
 139
 140         @Override
 141         protected void initDefaultCommand() {
 142
 143         }
 144 }