implement ShootAtHighGoal and add some helper methods

[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 c9c29dd27ec45e88047e5c97697df44aa92070aa..cbd0f3ca1e83e9ea8694f63544c102fdfb8d5d22 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -9,13 +9,13 @@ 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 {
@@ -46,6 +46,11 @@ public class IntakeArm extends Subsystem {
     rightIntake.set(Constants.IntakeArm.EXTEND);
   }
 
+  public boolean isExtended() {
+    return (leftIntake.get() == Constants.IntakeArm.EXTEND
+        && rightIntake.get() == Constants.IntakeArm.EXTEND);
+  }
+
   /***
    * This method sets the voltage of the motor to intake the ball. The voltage
    * values are constants in Constants class
@@ -70,7 +75,7 @@ public class IntakeArm extends Subsystem {
    * 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.
@@ -83,7 +88,7 @@ public class IntakeArm extends Subsystem {
   /***
    * 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
    */
 
@@ -94,10 +99,10 @@ public class IntakeArm extends Subsystem {
   /***
    * 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).
-   * 
+   *
    */
 
   public boolean areRollersRolling() {