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 ceac71fb1d4ca5a424c01b26eb10168658f9c94c..856db2bb139c5c23b0639783df255486eff9814b 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -2,8 +2,8 @@ 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;
 
 /***
@@ -21,16 +21,27 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 public class IntakeArm extends Subsystem {
 
   private CANTalon intakeRoller;
-  private CANTalon intakeArm;
-  private AnalogPotentiometer intakePot;
-  private double[] potAngles = { 0, 45, 90 };
+  private DoubleSolenoid leftIntake, rightIntake;
+  public static double moveIntakeArmSpeed = 0;
 
   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);
 
+    leftIntake = new DoubleSolenoid(Constants.IntakeArm.LEFT_FORWARD,
+        Constants.IntakeArm.LEFT_REVERSE);
+
+    rightIntake = new DoubleSolenoid(Constants.IntakeArm.RIGHT_FORWARD,
+        Constants.IntakeArm.RIGHT_REVERSE);
+  }
+
+  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);
   }
 
   /***
@@ -49,6 +60,10 @@ public class IntakeArm extends Subsystem {
     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
@@ -63,39 +78,6 @@ public class IntakeArm extends Subsystem {
     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 setArmSpeed(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 getArmSpeed() {
-    return intakeArm.get();
-  }
-
   /***
    * This method checks to see if the presence of the ball inside is true or
    * false.
@@ -117,27 +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 getArmAngle() {
-    return intakePot.get() + Constants.IntakeArm.ZERO_ANGLE;
-  }
-
-  public void stop() {
-    setArmSpeed(0);
-  }
-
-  public double getAngleForLevel(double targetLevel) {
-    return potAngles[(int) (targetLevel - 1)];
-  }
-
   @Override
   protected void initDefaultCommand() {