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. 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 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 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 dropIntake() {
- intake.set(0.3);
+ public void outputBall() {
+ intakeRoller.set(Constants.IntakeArm.OUTPUT_SPEED);
}
- public void intake() {
- intake.set(Constants.IntakeArm.INTAKE_SPEED);
+ public void stopRollers() {
+ intakeRoller.set(0);
}
- public void output() {
- intake.set(Constants.IntakeArm.OUTPUT_SPEED);
+ /***
+ * 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 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.
+ * 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 of the motors that control the rollers. The range of
- * these motors go from [-1,1]. A negative voltage makes the motor
- * run
- * backwards.
+ * 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 setRollerVoltage(double voltage) {
+ 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.
+ * 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 roller. The
- * range of the voltage goes from [-1,1].
- * A negative voltage indicates that the motor is running 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 getRollerVoltage() {
- return 0;
+ public double getArmSpeed() {
+ return intakeArm.get();
}
/***
}
/***
- *
- * @return
- * >>>>>>> reset to unix format
- * =======
- * This method checks to see if the motors controlling the rollers are
- * currently running.
+ * 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;
}
+ /***
+ * 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() {