delete anything to do with pots and motors in IntakeArm and Constants, add the left...

[3501/stronghold-2016] / src / org / usfirst / frc / team3501 / robot / subsystems / IntakeArm.java

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
index 91a8a39765f1e927dedab570cc504eca54276813..1870799debfc45f510217aded8ae180c73417dba 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -1,41 +1,101 @@
-package org.usfirst.frc.team3501.robot.subsystems;\r
-\r
-import org.usfirst.frc.team3501.robot.Constants;\r
-\r
-import edu.wpi.first.wpilibj.CANTalon;\r
-import edu.wpi.first.wpilibj.command.Subsystem;\r
-\r
-public class IntakeArm extends Subsystem {\r
-\r
-  private CANTalon intake;\r
-  private CANTalon chevalDeFrise;\r
-\r
-  public IntakeArm() {\r
-    intake = new CANTalon(Constants.IntakeArm.PORT);\r
-\r
-  }\r
-\r
-  /*\r
-   * Intake only moves once at the beginning of the match. It lowers at the\r
-   * beginning of the match and is held there by mechanical stops until the end\r
-   * of the match.\r
-   * \r
-   * Must be used in a command that has a timer variable to stop it.\r
-   */\r
-  public void dropIntake() {\r
-    intake.set(0.3);\r
-  }\r
-\r
-  public void intake() {\r
-    intake.set(Constants.IntakeArm.INTAKE_SPEED);\r
-  }\r
-\r
-  public void output() {\r
-    intake.set(Constants.IntakeArm.OUTPUT_SPEED);\r
-  }\r
-\r
-  @Override\r
-  protected void initDefaultCommand() {\r
-\r
-  }\r
-}\r
+package org.usfirst.frc.team3501.robot.subsystems;
+
+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 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() {
+
+  }
+}