make extend and retract intake arm piston methods and a command

[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 96c0b3d1cd452e5d16f546ddb24ab143018b46a3..856db2bb139c5c23b0639783df255486eff9814b 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -2,103 +2,82 @@ package org.usfirst.frc.team3501.robot.subsystems;
 
 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;
 
 /***
  * 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 intakeRoller;
-  private CANTalon intakeArm;
-  private AnalogPotentiometer intakePot;
+  private DoubleSolenoid leftIntake, rightIntake;
+  public static double moveIntakeArmSpeed = 0;
 
   public IntakeArm() {
     intakeRoller = new CANTalon(Constants.IntakeArm.ROLLER_PORT);
-    intakeArm = new CANTalon(Constants.IntakeArm.INTAKE_PORT);
-    intakePot = new AnalogPotentiometer(
-        Constants.IntakeArm.INTAKE_CHANNEL,
-        Constants.IntakeArm.FULL_RANGE,
-        Constants.IntakeArm.OFFSET);
+
+    leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_FORWARD,
+        Constants.IntakeArm.LEFT_REVERSE);
+
+    rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_FORWARD,
+        Constants.IntakeArm.RIGHT_REVERSE);
   }
 
-  /*
-   * 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 retractPistons() {
+    leftIntake.set(Constants.IntakeArm.RETRACT);
+    rightIntake.set(Constants.IntakeArm.RETRACT);
+  }
+
+  public void extendPistons() {
+    leftIntake.set(Constants.IntakeArm.EXTEND);
+    rightIntake.set(Constants.IntakeArm.EXTEND);
+  }
 
   /***
-   * These two methods (intakeBall and outputBall)sets the voltage of the motor.
-   * The voltage values are constants in Constants class
+   * 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.
+   * 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.
+   *         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.
@@ -120,18 +99,11 @@ public class IntakeArm extends Subsystem {
    */
 
   public boolean areRollersRolling() {
+    if (Math.abs(getRollerVoltage()) < 0.02)
+      return false;
     return true;
   }
 
-  /***
-   * This method gets the angle of the potentiometer on the Intake Arm.
-   *
-   * @return angle of potentiometer
-   */
-  public double getIntakePot() {
-    return intakePot.get();
-  }
-
   @Override
   protected void initDefaultCommand() {