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Add in missed Climber.java from last commit

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Co-Authored-By: ryan123rudder <ryan123rudder@users.noreply.github.com>
This commit is contained in:
Keenan D. Buckley
2019-02-16 13:26:23 -07:00
parent 979a957f1f
commit 259b7495e7
1 changed files with 70 additions and 23 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java
+70 -23
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@@ -4,14 +4,35 @@
package org.usfirst.frc4388.robot.subsystems;
import java.util.ArrayList;
import org.usfirst.frc4388.controller.XboxController;
import org.usfirst.frc4388.robot.Constants;
import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.RobotMap;
import org.usfirst.frc4388.robot.commands.*;
import org.usfirst.frc4388.robot.subsystems.Drive.DriveControlMode;
import org.usfirst.frc4388.utility.CANTalonEncoder;
import org.usfirst.frc4388.utility.ControlLoopable;
import org.usfirst.frc4388.utility.PIDParams;
import org.usfirst.frc4388.utility.SoftwarePIDPositionController;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import com.ctre.phoenix.motorcontrol.ControlMode;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.PIDController;
import edu.wpi.first.wpilibj.SpeedControllerGroup;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.RemoteLimitSwitchSource;
import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.SensorCollection;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
@@ -20,20 +41,36 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
*/
public class Climber extends Subsystem{
private WPI_TalonSRX Climber;
//Motors
private WPI_TalonSRX climberBack;
private WPI_TalonSRX climberFront;
private WPI_TalonSRX climberFront2;
private WPI_TalonSRX flipOutMotor;
public boolean on;
//Frequency Control
static float BACK_FREQ = 1;
static float FRONT_FREQ;
static float FREQ_RATIO = 0.2443744576F;
//Limit and Saftey vars
LimitSwitchSource limitSwitchSource;
SensorCollection isPressed;
boolean safetySwitch;
public Climber(){
try{
Climber = new WPI_TalonSRX(RobotMap.CLIMBER_CAN_ID);
} catch (Exception e) {
System.err.println("An error occurred in the climbing constructor");
climberBack = new WPI_TalonSRX(RobotMap.CLIMBER_CAN_ID);
climberFront = new WPI_TalonSRX(RobotMap.CLIMBER_WHEEL1_ID);
climberFront2 = new WPI_TalonSRX(RobotMap.CLIMBER_WHEEL2_ID);
climberFront2.set(ControlMode.Follower, climberFront.getDeviceID());
climberBack.configForwardLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
climberBack.configReverseLimitSwitchSource(limitSwitchSource, LimitSwitchNormal.NormallyOpen, 0);
FRONT_FREQ = BACK_FREQ * FREQ_RATIO; // Sets the front motor speed to ~1/4 the back motor speed
}
catch (Exception e) {
System.err.println("The code broke before the guard did. An error occurred in the climbing constructor");
}
}
@@ -49,20 +86,30 @@ public class Climber extends Subsystem{
}
public void setClimbSpeed(boolean Climb) {
if (Climb==true) {
Climber.set(1.0);
public void setClimbSpeed(boolean Climb, double speed) {
if (Climb && safetySwitch) {
if(isPressed.isFwdLimitSwitchClosed()){ //If leg at max height
climberBack.set(0);
climberFront.set(FRONT_FREQ * speed);
}
else if (!isPressed.isFwdLimitSwitchClosed()){ //If leg not at max height
climberBack.set(BACK_FREQ * speed);
climberFront.set(FRONT_FREQ * speed);
}
}
if (Climb==false) {
Climber.set(0);
}
}
// Put methods for controlling this subsystem
// here. Call these from Commands.
{
// TODO Auto-generated method stub
if (!Climb || !safetySwitch) {
climberBack.set(0);
climberFront.set(0);
}
}
}
public void safetySwitch(boolean safetySwitch){
this.safetySwitch = safetySwitch;
}
public void flipRatchet(boolean flip, double speed){
climberFront.set(FRONT_FREQ * speed);
}
}