delete anything to do with pots and motors in IntakeArm and Constants, add the left...

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index d34a08e87e56fb457aa2544f9cf0bf3d420b82da..e7efadae482726dc272275266dec116ad977a629 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -54,7 +54,8 @@ public class Constants {
     public final static int ENCODER_RIGHT_A = 9;
     public final static int ENCODER_RIGHT_B = 8;
 
-    public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI) / 256;
+    public static final double INCHES_PER_PULSE = ((3.66 / 5.14) * 6 * Math.PI)
+        / 256;
 
     public static double kp = 0.013, ki = 0.000015, kd = -0.002;
     public static double gp = 0.018, gi = 0.000015, gd = 0;
@@ -110,14 +111,17 @@ public class Constants {
 
   public static class IntakeArm {
     public static final int ROLLER_PORT = 0;
-    public static final int ARM_PORT = 1;
-    public static final int POT_CHANNEL = 0;
+
+    // for pistons
+    public static final int LEFT_FORWARD = 0;
+    public static final int LEFT_REVERSE = 1;
+
+    public static final int RIGHT_FORWARD = 2;
+    public static final int RIGHT_REVERSE = 3;
+
+    // for roller
     public static final double INTAKE_SPEED = 0.5;
     public static final double OUTPUT_SPEED = -0.5;
-    public final static double FULL_RANGE = 270.0; // in degrees
-    public final static double OFFSET = -135.0; // in degrees
-    public static final double ZERO_ANGLE = 0;
-    public static final double DEFAULT_INTAKE_ARM_SPEED = 0.3;
   }
 
   public static class DefenseArm {

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
index 5e00d05f0df999e6870ba06e5b32d8bee168002d..1870799debfc45f510217aded8ae180c73417dba 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 +21,17 @@ import edu.wpi.first.wpilibj.command.Subsystem;
 public class IntakeArm extends Subsystem {
 
   private CANTalon intakeRoller;
-  private CANTalon intakeArm;
-  private AnalogPotentiometer intakePot;
-  public static double[] potAngles = { 0, 30, 45, 90 }; // TODO: correct angles
+  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);
   }
 
   /***
@@ -67,39 +68,6 @@ 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.
@@ -126,24 +94,6 @@ public class IntakeArm extends Subsystem {
     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() {