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Create Hatch Failsafe to Prevent Arm from Hitting the Hatch Intake When Using Preset Positions

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This commit is contained in:
HFocus
2019-03-18 21:14:06 -06:00
parent 7589de6bd6
commit 03ee08c395
9 changed files with 42 additions and 6 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
+1
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@@ -8,6 +8,7 @@ import org.usfirst.frc4388.controller.IHandController;
import org.usfirst.frc4388.controller.XboxController;
import org.usfirst.frc4388.robot.commands.*;
import org.usfirst.frc4388.robot.commands.presets.SetPositionArmWrist;
import org.usfirst.frc4388.robot.commands.presets.StowArm;
import org.usfirst.frc4388.robot.constants.LEDPatterns;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/CargoHigh.java
+5 -1
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@@ -7,7 +7,9 @@
package org.usfirst.frc4388.robot.commands.presets;
import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;
import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -17,9 +19,11 @@ public class CargoHigh extends CommandGroup {
* Add your docs here.
*/
public CargoHigh() {
boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(3243));
addSequential(new ArmSetPositionMM(4298));
addSequential(new HatchFlip(HatchFlipStatus));
// Add Commands here:
// e.g. addSequential(new Command1());
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/CargoLow.java
+5 -1
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@@ -7,7 +7,9 @@
package org.usfirst.frc4388.robot.commands.presets;
import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;
import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -17,9 +19,11 @@ public class CargoLow extends CommandGroup {
* Add your docs here.
*/
public CargoLow() {
boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(2500));
addSequential(new ArmSetPositionMM(1388));
addSequential(new HatchFlip(HatchFlipStatus));
// Add Commands here:
// e.g. addSequential(new Command1());
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/CargoMid.java
+5 -1
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@@ -7,7 +7,9 @@
package org.usfirst.frc4388.robot.commands.presets;
import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;
import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -17,9 +19,11 @@ public class CargoMid extends CommandGroup {
* Add your docs here.
*/
public CargoMid() {
boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(2830));
addSequential(new ArmSetPositionMM(2830));
addSequential(new HatchFlip(HatchFlipStatus));
// Add Commands here:
// e.g. addSequential(new Command1());
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/HatchHigh.java
+5 -1
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@@ -7,7 +7,9 @@
package org.usfirst.frc4388.robot.commands.presets;
import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;
import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -17,9 +19,11 @@ public class HatchHigh extends CommandGroup {
* Add your docs here.
*/
public HatchHigh() {
boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(1144));
addSequential(new ArmSetPositionMM(3605));
addSequential(new HatchFlip(HatchFlipStatus));
// Add Commands here:
// e.g. addSequential(new Command1());
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/HatchLow.java
+5 -1
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@@ -7,7 +7,9 @@
package org.usfirst.frc4388.robot.commands.presets;
import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;
import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -17,9 +19,11 @@ public class HatchLow extends CommandGroup {
* Add your docs here.
*/
public HatchLow() {
boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(450));
addSequential(new ArmSetPositionMM(590));
addSequential(new HatchFlip(HatchFlipStatus));
// Add Commands here:
// e.g. addSequential(new Command1());
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/HatchMid.java
+5 -1
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@@ -7,7 +7,9 @@
package org.usfirst.frc4388.robot.commands.presets;
import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;
import edu.wpi.first.wpilibj.command.CommandGroup;
@@ -17,9 +19,11 @@ public class HatchMid extends CommandGroup {
* Add your docs here.
*/
public HatchMid() {
boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(750));
addSequential(new ArmSetPositionMM(2000));
addSequential(new HatchFlip(HatchFlipStatus));
// Add Commands here:
// e.g. addSequential(new Command1());
2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/StowArm.java
+3
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@@ -7,6 +7,7 @@
package org.usfirst.frc4388.robot.commands.presets;
import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristPlacement;
@@ -19,11 +20,13 @@ public class StowArm extends CommandGroup {
/**
* Add your docs here.
*/
public StowArm() {
addSequential(new HatchFlip(false));
addParallel(new WristPlacement(true));
addParallel(new WristSetPositionPID(110), 2);
addSequential(new ArmSetPositionMM(10));
// Add Commands here:
// e.g. addSequential(new Command1());
// addSequential(new Command2());
2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Pneumatics.java
+8
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@@ -14,6 +14,10 @@ public class Pneumatics extends Subsystem {
private DoubleSolenoid ballIntake;
private DoubleSolenoid wrist;
public boolean hatchIntakeState = false;
public boolean ballIntakeState = false;
public boolean speedShiftState = false;
public boolean wristState = false;
public Pneumatics() {
try {
@@ -34,6 +38,7 @@ public class Pneumatics extends Subsystem {
if (state==false) {
speedShift.set(DoubleSolenoid.Value.kReverse);
}
speedShiftState = state;
}
public void setHatchIntakeState(boolean state) {
if (state==true) {
@@ -42,6 +47,7 @@ public class Pneumatics extends Subsystem {
if (state==false) {
hatchIntake.set(DoubleSolenoid.Value.kReverse);
}
hatchIntakeState = state;
}
public void setBallIntake(boolean state) {
if (state==true) {
@@ -50,6 +56,7 @@ public class Pneumatics extends Subsystem {
if (state==false) {
ballIntake.set(DoubleSolenoid.Value.kReverse);
}
ballIntakeState = state;
}
public void setWrist(boolean state) {
if (state==true) {
@@ -58,6 +65,7 @@ public class Pneumatics extends Subsystem {
if (state==false) {
wrist.set(DoubleSolenoid.Value.kReverse);
}
wristState = state;
}
public void initDefaultCommand() {