import org.usfirst.frc.team3501.robot.Constants;
-import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.command.Subsystem;
/***
*/
public class IntakeArm extends Subsystem {
- private CANTalon intakeRoller;
- private CANTalon intakeArm;
- private AnalogPotentiometer intakePot;
-
- public IntakeArm() {
- intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
- intakeArm = new CANTalon(Constants.IntakeArm.ARM_PORT);
- intakePot = new AnalogPotentiometer(Constants.IntakeArm.POT_CHANNEL, Constants.IntakeArm.FULL_RANGE,
- Constants.IntakeArm.OFFSET);
- }
-
- /***
- * This method sets the voltage of the motor to intake the ball. The voltage
- * values are constants in Constants class
- */
- public void intakeBall() {
- intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
- }
-
- /***
- * This method sets the voltage of the motor to output the ball. The voltage
- * values are constants in Constants class
- */
- public void outputBall() {
- intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
- }
-
- /***
- * This method gets you the current voltage of the motor that controls the
- * intake arm roller. The range of voltage is from [-1,1]. A negative
- * voltage makes the motor run backwards.
- *
- * @return Returns the voltage of the motor that controls the roller. The
- * range of the voltage goes from [-1,1]. A negative voltage
- * indicates that the motor is running backwards.
- */
-
- public double getRollerVoltage() {
- return intakeRoller.get();
- }
-
- /***
- * This method sets the voltage of the arm motor. The range is from [-1,1].
- * A negative voltage makes the direction of the motor go backwards.
- *
- * @param voltage
- * The voltage that you set the motor at. The range of the
- * voltage of the arm motor is from [-1,1]. A negative voltage
- * makes the direction of the motor go backwards.
- */
-
- public void setArmVoltage(double voltage) {
- if (voltage > 1)
- voltage = 1;
- else if (voltage < -1)
- voltage = -1;
-
- intakeArm.set(voltage);
- }
-
- /***
- * This method gets you the current voltage of the motor that controls the
- * intake arm. The range of voltage is from [-1,1]. A negative voltage makes
- * the motor run backwards.
- *
- * @return Returns the voltage of the motor that controls the arm. The range
- * of the voltage goes from [-1,1]. A negative voltage indicates
- * that the motor is running backwards.
- */
-
- public double getArmVoltage() {
- return intakeArm.get();
- }
-
- /***
- * This method checks to see if the presence of the ball inside is true or
- * false.
- *
- * @return Returns whether the ball is inside as true or false
- */
-
- public boolean isBallInside() {
- return true;
- }
-
- /***
- * This method checks to see if the motors controlling the rollers are
- * currently running.
- *
- * @return Returns whether the motors are currently running, and returns the
- * state of the condition (true or false).
- *
- */
-
- public boolean areRollersRolling() {
- return true;
- }
-
- /***
- * This method gets the angle of the potentiometer on the Intake Arm.
- *
- * @return angle of potentiometer
- */
- public double getArmAngle() {
- return intakePot.get();
- }
-
- @Override
- protected void initDefaultCommand() {
-
- }
+
+ private CANTalon intakeRoller;
+ private DoubleSolenoid leftIntake, rightIntake;
+ public static double moveIntakeArmSpeed = 0;
+
+ public IntakeArm() {
+ intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
+
+ leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_FORWARD,
+ Constants.IntakeArm.LEFT_REVERSE);
+
+ rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_FORWARD,
+ Constants.IntakeArm.RIGHT_REVERSE);
+ }
+
+ /***
+ * This method sets the voltage of the motor to intake the ball. The voltage
+ * values are constants in Constants class
+ */
+ public void intakeBall() {
+ intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
+ }
+
+ /***
+ * This method sets the voltage of the motor to output the ball. The voltage
+ * values are constants in Constants class
+ */
+ public void outputBall() {
+ intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
+ }
+
+ public void stopRollers() {
+ intakeRoller.set(0);
+ }
+
+ /***
+ * This method gets you the current voltage of the motor that controls the
+ * intake arm roller. The range of voltage is from [-1,1]. A negative voltage
+ * makes the motor run backwards.
+ *
+ * @return Returns the voltage of the motor that controls the roller. The
+ * range of the voltage goes from [-1,1]. A negative voltage indicates
+ * that the motor is running backwards.
+ */
+
+ public double getRollerVoltage() {
+ return intakeRoller.get();
+ }
+
+ /***
+ * This method checks to see if the presence of the ball inside is true or
+ * false.
+ *
+ * @return Returns whether the ball is inside as true or false
+ */
+
+ public boolean isBallInside() {
+ return true;
+ }
+
+ /***
+ * This method checks to see if the motors controlling the rollers are
+ * currently running.
+ *
+ * @return Returns whether the motors are currently running, and returns the
+ * state of the condition (true or false).
+ *
+ */
+
+ public boolean areRollersRolling() {
+ if (Math.abs(getRollerVoltage()) < 0.02)
+ return false;
+ return true;
+ }
+
+ @Override
+ protected void initDefaultCommand() {
+
+ }
}
projects / 3501 / stronghold-2016 / blobdiff