From 2f2aa761f9eaf4bbabd7389850573a096bf01685 Mon Sep 17 00:00:00 2001
From: Shaina Chen <shaina.sierra@gmail.com>
Date: Thu, 4 Feb 2016 20:12:48 -0800
Subject: [PATCH] add setArmVoltage and getArmVoltage methods

---
 .../team3501/robot/subsystems/IntakeArm.java  | 35 ++++++++++++++++++-
 1 file changed, 34 insertions(+), 1 deletion(-)

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
index 3fa5d3e9..7140b83e 100755
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -50,7 +50,7 @@ public class IntakeArm extends Subsystem {
 
   /***
    * This method gets you the current voltage of the motor that controls the
-   * intake arm. The range of voltage is from [-1,1].
+   * 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
@@ -62,6 +62,39 @@ 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 setArmVoltage(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 getArmVoltage() {
+    return intakeArm.get();
+  }
+
   /***
    * This method checks to see if the presence of the ball inside is true or
    * false.
-- 
2.30.2