1 package org
.usfirst
.frc
.team3501
.robot
.subsystems
;
3 import org
.usfirst
.frc
.team3501
.robot
.Constants
;
5 import edu
.wpi
.first
.wpilibj
.AnalogPotentiometer
;
6 import edu
.wpi
.first
.wpilibj
.CANTalon
;
7 import edu
.wpi
.first
.wpilibj
.command
.Subsystem
;
10 * The IntakeArm consists of two rollers that are controlled by one motor, with
11 * a potentiometer on it.
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
21 public class IntakeArm
extends Subsystem
{
22 private CANTalon intakeRoller
;
23 private CANTalon intakeArm
;
24 private AnalogPotentiometer intakePot
;
27 intakeRoller
= new CANTalon(Constants
.IntakeArm
.ROLLER_PORT
);
28 intakeArm
= new CANTalon(Constants
.IntakeArm
.ARM_PORT
);
29 intakePot
= new AnalogPotentiometer(Constants
.IntakeArm
.POT_CHANNEL
, Constants
.IntakeArm
.FULL_RANGE
,
30 Constants
.IntakeArm
.OFFSET
);
34 * This method sets the voltage of the motor to intake the ball. The voltage
35 * values are constants in Constants class
37 public void intakeBall() {
38 intakeRoller
.set(Constants
.IntakeArm
.INTAKE_SPEED
);
42 * This method sets the voltage of the motor to output the ball. The voltage
43 * values are constants in Constants class
45 public void outputBall() {
46 intakeRoller
.set(Constants
.IntakeArm
.OUTPUT_SPEED
);
50 * This method gets you the current voltage of the motor that controls the
51 * intake arm roller. The range of voltage is from [-1,1]. A negative
52 * voltage makes the motor run backwards.
54 * @return Returns the voltage of the motor that controls the roller. The
55 * range of the voltage goes from [-1,1]. A negative voltage
56 * indicates that the motor is running backwards.
59 public double getRollerVoltage() {
60 return intakeRoller
.get();
64 * This method sets the voltage of the arm motor. The range is from [-1,1].
65 * A negative voltage makes the direction of the motor go backwards.
68 * The voltage that you set the motor at. The range of the
69 * voltage of the arm motor is from [-1,1]. A negative voltage
70 * makes the direction of the motor go backwards.
73 public void setArmVoltage(double voltage
) {
76 else if (voltage
< -1)
79 intakeArm
.set(voltage
);
83 * This method gets you the current voltage of the motor that controls the
84 * intake arm. The range of voltage is from [-1,1]. A negative voltage makes
85 * the motor run backwards.
87 * @return Returns the voltage of the motor that controls the arm. The range
88 * of the voltage goes from [-1,1]. A negative voltage indicates
89 * that the motor is running backwards.
92 public double getArmVoltage() {
93 return intakeArm
.get();
97 * This method checks to see if the presence of the ball inside is true or
100 * @return Returns whether the ball is inside as true or false
103 public boolean isBallInside() {
108 * This method checks to see if the motors controlling the rollers are
111 * @return Returns whether the motors are currently running, and returns the
112 * state of the condition (true or false).
116 public boolean areRollersRolling() {
121 * This method gets the angle of the potentiometer on the Intake Arm.
123 * @return angle of potentiometer
125 public double getArmAngle() {
126 return intakePot
.get();
130 protected void initDefaultCommand() {