import org.usfirst.frc.team3501.robot.Constants;
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
import edu.wpi.first.wpilibj.CANTalon;
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 CANTalon intakeArm;
+ private AnalogPotentiometer intakePot;
+ private double[] potAngles = { 0, 45, 90 };
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);
+ intakeArm = new CANTalon(Constants.IntakeArm.ARM_PORT);
+ intakePot = new AnalogPotentiometer(Constants.IntakeArm.POT_CHANNEL,
+ Constants.IntakeArm.FULL_RANGE, Constants.IntakeArm.OFFSET);
}
- /*
- * 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 intake the ball. The voltage
+ * values are constants in Constants class
*/
- public void dropIntake() {
- intake.set(0.3);
+ public void intakeBall() {
+ intakeRoller.set(Constants.IntakeArm.INTAKE_SPEED);
}
- public void intake() {
- intake.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 output() {
- intake.set(Constants.IntakeArm.OUTPUT_SPEED);
+ public void stopRollers() {
+ intakeRoller.set(0);
}
/***
- * This method allows you to set the speed of the motor. The range of speed
- * is from [-1, 1]. A negative speed changes the direction of the motors,
- * making it run backwards.
+ * 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.
*
- * @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.
+ * @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 void setRollerSpeed(double speed) {
+ 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 setArmSpeed(double voltage) {
+ if (voltage > 1)
+ voltage = 1;
+ else if (voltage < -1)
+ voltage = -1;
+
+ intakeArm.set(voltage);
}
/***
- * 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.
+ * 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 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 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 getRollerSpeed() {
- return 0;
+ public double getArmSpeed() {
+ return intakeArm.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 working.
+ * 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;
}
+ /***
+ * 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() {
projects / 3501 / stronghold-2016 / blobdiff