From 4e0d63897042c0f989c90c0887151a10fca959f8 Mon Sep 17 00:00:00 2001 From: Lauren Meier Date: Tue, 9 Feb 2016 18:37:27 -0800 Subject: [PATCH] add commands to control intake of boulders --- .../robot/commands/ToggleBallRollerExpel.java | 38 +++ .../commands/ToggleBallRollerIntake.java | 35 +++ .../team3501/robot/subsystems/IntakeArm.java | 245 +++++++++--------- 3 files changed, 196 insertions(+), 122 deletions(-) create mode 100644 src/org/usfirst/frc/team3501/robot/commands/ToggleBallRollerExpel.java create mode 100644 src/org/usfirst/frc/team3501/robot/commands/ToggleBallRollerIntake.java diff --git a/src/org/usfirst/frc/team3501/robot/commands/ToggleBallRollerExpel.java b/src/org/usfirst/frc/team3501/robot/commands/ToggleBallRollerExpel.java new file mode 100644 index 00000000..271c79ec --- /dev/null +++ b/src/org/usfirst/frc/team3501/robot/commands/ToggleBallRollerExpel.java @@ -0,0 +1,38 @@ +package org.usfirst.frc.team3501.robot.commands; + +import org.usfirst.frc.team3501.robot.Robot; + +import edu.wpi.first.wpilibj.command.Command; + +public class ToggleBallRollerExpel extends Command { + final double BALL_INTAKE_SPEED = 0.3; + + public ToggleBallRollerExpel() { + } + + @Override + protected void initialize() { + Robot.shooter.setSpeed(BALL_INTAKE_SPEED); + } + + @Override + protected void execute() { + + } + + @Override + protected boolean isFinished() { + return true; + } + + @Override + protected void end() { + + } + + @Override + protected void interrupted() { + + } + +} diff --git a/src/org/usfirst/frc/team3501/robot/commands/ToggleBallRollerIntake.java b/src/org/usfirst/frc/team3501/robot/commands/ToggleBallRollerIntake.java new file mode 100644 index 00000000..d7581486 --- /dev/null +++ b/src/org/usfirst/frc/team3501/robot/commands/ToggleBallRollerIntake.java @@ -0,0 +1,35 @@ +package org.usfirst.frc.team3501.robot.commands; + +import edu.wpi.first.wpilibj.command.Command; + +public class ToggleBallRollerIntake extends Command { + final double BALL_EXPEL_SPEED = -0.3; + + public ToggleBallRollerIntake() { + } + + @Override + protected void initialize() { + } + + @Override + protected void execute() { + + } + + @Override + protected boolean isFinished() { + return true; + } + + @Override + protected void end() { + + } + + @Override + protected void interrupted() { + + } + +} diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java index 9089852a..ceac71fb 100755 --- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java +++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java @@ -19,126 +19,127 @@ import edu.wpi.first.wpilibj.command.Subsystem; */ public class IntakeArm extends Subsystem { - private CANTalon intakeRoller; - private CANTalon intakeArm; - private AnalogPotentiometer intakePot; - private double[] potAngles = { 0, 45, 90 }; - - 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); - - } - - /*** - * 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 outputBall() { - intakeRoller.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 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. - * - * @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 running. - * - * @return Returns whether the motors are currently running, and returns the - * state of the condition (true or false). - * - */ - - public boolean areRollersRolling() { - 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() { - - } + + private CANTalon intakeRoller; + private CANTalon intakeArm; + private AnalogPotentiometer intakePot; + private double[] potAngles = { 0, 45, 90 }; + + 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); + + } + + /*** + * 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 outputBall() { + intakeRoller.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 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. + * + * @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 running. + * + * @return Returns whether the motors are currently running, and returns the + * state of the condition (true or false). + * + */ + + public boolean areRollersRolling() { + 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() { + + } } -- 2.30.2