import org.usfirst.frc.team3501.robot.Constants;
import edu.wpi.first.wpilibj.CANTalon;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.command.Subsystem;
+/***
+ * The IntakeArm consists of two rollers that are controlled by one motor, with
+ * a potentiometer on it.
+ *
+ * The motor controls the rollers, making them roll forwards and backwards. The
+ * Intake rollers are on the back of the robot. As the rollers run, they intake
+ * the ball.
+ *
+ * @author superuser
+ *
+ */
+
public class IntakeArm extends Subsystem {
- private CANTalon intake;
- private CANTalon chevalDeFriseHand;
+ private CANTalon intakeRoller;
+ private DoubleSolenoid leftIntake, rightIntake;
+ public static double moveIntakeArmSpeed = 0;
public IntakeArm() {
- intake = new CANTalon(Constants.IntakeArm.PORT);
+ 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);
}
- /*
- * Intake only moves once at the beginning of the match. It lowers at the
- * beginning of the match and is held there by mechanical stops until the end
- * of the match.
- *
- * Must be used in a command that has a timer variable to stop it.
+ /***
+ * This method sets the voltage of the motor to output the ball. The voltage
+ * values are constants in Constants class
*/
- public void dropIntake() {
- intake.set(0.3);
+ public void outputBall() {
+ intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
}
- public void intake() {
- intake.set(Constants.IntakeArm.INTAKE_SPEED);
+ public void stopRollers() {
+ intakeRoller.set(0);
}
- public void output() {
- intake.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 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