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. The
- * class is deployed using a command that accelerates the robot forward and
- * gravity pushes the arm down. After the IntakeArm is pushed down by gravity,
- * the arm remains stationary for the rest of the match.
+ * 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.
+ * 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);
- chevalDeFriseHand = new CANTalon(Constants.IntakeArm.CHEVAL_DE_FRISE_HAND_PORT);
- }
+ intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
- /*
- * 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.
- */
- public void dropIntake() {
- intake.set(0.3);
+ leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_FORWARD,
+ Constants.IntakeArm.LEFT_REVERSE);
+
+ rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_FORWARD,
+ Constants.IntakeArm.RIGHT_REVERSE);
}
- public void intake() {
- intake.set(Constants.IntakeArm.INTAKE_SPEED);
+ public void retractPistons() {
+ leftIntake.set(Constants.IntakeArm.RETRACT);
+ rightIntake.set(Constants.IntakeArm.RETRACT);
}
- public void output() {
- intake.set(Constants.IntakeArm.OUTPUT_SPEED);
+ public void extendPistons() {
+ leftIntake.set(Constants.IntakeArm.EXTEND);
+ rightIntake.set(Constants.IntakeArm.EXTEND);
}
/***
- * This method allows you to set the voltage of the motor. The range of
- * voltage is from [-1, 1]. A negative voltage makes the motor run backwards.
- *
-<<<<<<< e3056e0d68d3b4150b81db56c6685c399cb9c37a
-<<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
- * @param speed
- * The speed of the motors that control the rollers. The range of
- * these motors go from [-1,1]. A negative speed changes the
- * direction of the motors, making it run backwards.
- * =======
- * public IntakeArm() {
- *
- * }
- *
- * /***
- * This method allows you to set the speed of the motor(s). The range
- * of speed
- * is from [-1, 1]. A negative speed changes the direction of the
- * motors.
- *
- * @param speed
- * The speed of the motors that control the rollers. The range of
- * these motors go from [-1,1]. A negative speed changes the
- * direction of the motors.
- * >>>>>>> reset to unix format
-=======
- * @param speed
- * The speed of the motors that control the rollers. The range of
- * these motors go from [-1,1]. A negative speed changes the
- * direction of the motors, making it run backwards.
->>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
-=======
- * @param voltage
- * The voltage of the motors that control the rollers. The range of
- * these motors go from [-1,1]. A negative voltage makes the motor
- * run
- * backwards.
->>>>>>> add class level comment and change speed to voltage
+ * 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);
+ }
- public void setRollerVoltage(double voltage) {
+ /***
+ * 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);
}
/***
-<<<<<<< e3056e0d68d3b4150b81db56c6685c399cb9c37a
-<<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
- * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
- * This method gets you the current speed of the motor that controls the
- * motor. The range of speed is from [-1,1]. A negative speed changes the
- * direction of the motor, making it run backwards.
- *
- * @return Returns the speed of the motor that controls the roller. The range
- * of the motor goes from [-1,1]. A negative speed changes the
- * direction of the motor, making it go backwards.
- * =======
- *
- * @return
- * >>>>>>> reset to unix format
-=======
- * This method gets you the current speed of the motor that controls the
- * motor. The range of speed is from [-1,1]. A negative speed changes the
- * direction of the motor, making it run backwards.
- *
- * @return Returns the speed of the motor that controls the roller. The range
- * of the motor goes from [-1,1]. A negative speed changes the
- * direction of the motor, making it go backwards.
->>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
-=======
* This method gets you the current voltage of the motor that controls the
- * motor. The range of voltage is from [-1,1]. A negative voltage makes the
- * motor
- * run backwards.
+ * 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 motor goes from [-1,1]. A negative voltage indicates that
- * the
- * motor is running backwards.
->>>>>>> add class level comment and change speed to voltage
+ * range of the voltage goes from [-1,1]. A negative voltage indicates
+ * that the motor is running backwards.
*/
public double getRollerVoltage() {
- return 0;
+ return intakeRoller.get();
}
/***
-<<<<<<< cefeac7a7bb7df62af5c880e13eb37c14125a7cb
- * <<<<<<< bd5dc4363add71a17f95409115dec96b83146549
- * This method checks to see if the motors controlling the rollers are
- * currently working.
+ * This method checks to see if the presence of the ball inside is true or
+ * false.
*
- * @return Returns whether the motors are currently running, and returns the
- * state of the condition (true or false).
- * =======
- *
- * @return
+ * @return Returns whether the ball is inside as true or false
*/
public boolean isBallInside() {
}
/***
- *
- * @return
- * >>>>>>> reset to unix format
-=======
* 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).
->>>>>>> add 3 method stubs- setRollerSpeeds, getRollerSpeeds, and areRollersRolling
+ *
*/
public boolean areRollersRolling() {
+ if (Math.abs(getRollerVoltage()) < 0.02)
+ return false;
return true;
}
projects / 3501 / stronghold-2016 / blobdiff