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 <<<<<<< e3056e0d68d3b4150b81db56c6685c399cb9c37a
  55 <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
  56    * @param speed
  57    *          The speed of the motors that control the rollers. The range of
  58    *          these motors go from [-1,1]. A negative speed changes the
  59    *          direction of the motors, making it run backwards.
  60    *          =======
  61    *          public IntakeArm() {
  62    *
  63    *          }
  64    *
  65    *          /***
  66    *          This method allows you to set the speed of the motor(s). The range
  67    *          of speed
  68    *          is from [-1, 1]. A negative speed changes the direction of the
  69    *          motors.
  70    *
  71    * @param speed
  72    *          The speed of the motors that control the rollers. The range of
  73    *          these motors go from [-1,1]. A negative speed changes the
  74    *          direction of the motors.
  75    *          >>>>>>> reset to unix format
  76 =======
  77    * @param speed
  78    *          The speed of the motors that control the rollers. The range of
  79    *          these motors go from [-1,1]. A negative speed changes the
  80    *          direction of the motors, making it run backwards.
  81 >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
  82 =======
  83    * @param voltage
  84    *          The voltage of the motors that control the rollers. The range of
  85    *          these motors go from [-1,1]. A negative voltage makes the motor
  86    *          run
  87    *          backwards.
  88 >>>>>>> add class level comment and change speed to voltage
  89    */
  90
  91   public void setRollerVoltage(double voltage) {
  92
  93   }
  94
  95   /***
  96 <<<<<<< e3056e0d68d3b4150b81db56c6685c399cb9c37a
  97 <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
  98    * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
  99    * This method gets you the current speed of the motor that controls the
 100    * motor. The range of speed is from [-1,1]. A negative speed changes the
 101    * direction of the motor, making it run backwards.
 102    *
 103    * @return Returns the speed of the motor that controls the roller. The range
 104    *         of the motor goes from [-1,1]. A negative speed changes the
 105    *         direction of the motor, making it go backwards.
 106    *         =======
 107    *
 108    * @return
 109    *         >>>>>>> reset to unix format
 110 =======
 111    * This method gets you the current speed of the motor that controls the
 112    * motor. The range of speed is from [-1,1]. A negative speed changes the
 113    * direction of the motor, making it run backwards.
 114    *
 115    * @return Returns the speed of the motor that controls the roller. The range
 116    *         of the motor goes from [-1,1]. A negative speed changes the
 117    *         direction of the motor, making it go backwards.
 118 >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
 119 =======
 120    * This method gets you the current voltage of the motor that controls the
 121    * motor. The range of voltage is from [-1,1]. A negative voltage makes the
 122    * motor
 123    * run backwards.
 124    *
 125    * @return Returns the voltage of the motor that controls the roller. The
 126    *         range
 127    *         of the motor goes from [-1,1]. A negative voltage indicates that
 128    *         the
 129    *         motor is running backwards.
 130 >>>>>>> add class level comment and change speed to voltage
 131    */
 132
 133   public double getRollerVoltage() {
 134     return 0;
 135   }
 136
 137   /***
 138 <<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
 139    * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
 140    * This method checks to see if the motors controlling the rollers are
 141    * currently working.
 142    *
 143    * @return Returns whether the motors are currently running, and returns the
 144    *         state of the condition (true or false).
 145    *         =======
 146    *
 147    * @return
 148    */
 149
 150   public boolean isBallInside() {
 151     return true;
 152   }
 153
 154   /***
 155    *
 156    * @return
 157    *         >>>>>>> reset to unix format
 158 =======
 159    * This method checks to see if the motors controlling the rollers are
 160    * currently running.
 161    *
 162    * @return Returns whether the motors are currently running, and returns the
 163    *         state of the condition (true or false).
 164 >>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
 165    */
 166
 167   public boolean areRollersRolling() {
 168     return true;
 169   }
 170
 171   @Override
 172   protected void initDefaultCommand() {
 173
 174   }
 175 }