safety fixes

WIP

2019robot/build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2019.1.1"
+    id "edu.wpi.first.GradleRIO" version "2019.2.1"
 }
 
 def ROBOT_MAIN_CLASS = "org.usfirst.frc4388.robot.Main"
@@ -50,7 +50,6 @@ dependencies {
     nativeZip wpi.deps.vendor.jni(wpi.platforms.roborio)
     nativeDesktopZip wpi.deps.vendor.jni(wpi.platforms.desktop)
     testCompile 'junit:junit:4.12'
-    compile pathfinder()
 }
 
 // Setting up my Jar File. In this case, adding all libraries into the main jar ('fat jar')

2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java

@@ -26,6 +26,7 @@ import jaci.pathfinder.Pathfinder;
 
 
 
+
 public class OI 
 {
 		private static OI instance;
@@ -49,7 +50,7 @@ public class OI
 	        CarriageEject.whenPressed(new IntakeSetSpeed(Carriage.CUBE_INTAKE_SPEED));
 	        CarriageEject.whenReleased(new IntakeSetSpeed(0.0));
 	        */
-	        JoystickButton climbUp = new XBoxTriggerButton(m_operatorXbox, XboxController.RIGHT_TRIGGER);
+	        JoystickButton climbUp = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.RIGHT_TRIGGER_AXIS);
 			float speed = XboxController.RIGHT_TRIGGER_AXIS;
 			climbUp.whenPressed(new InitiateClimber(true, speed));
 			climbUp.whenReleased(new InitiateClimber(false, speed));
@@ -72,10 +73,10 @@ public class OI
 			CloseIntake.whenPressed(new IntakePosition(false));
 			*/
 			JoystickButton safteySwitch = new JoystickButton(m_operatorXbox.getJoyStick(), XboxController.START_BUTTON);
-			safteySwitch.whenPressed(new startSaftey(true));
-			safteySwitch.whenReleased(new startSaftey(false));
+			safteySwitch.whenPressed(new setClimberSafety(true));
+			safteySwitch.whenReleased(new setClimberSafety(false));
 	     	
-	        SmartDashboard.putData("PRE GAME!!!!", new PreGame());
+	        //SmartDashboard.putData("PRE GAME!!!!", new PreGame());
 	       
 		  } catch (Exception e) {
 			  System.err.println("An error occurred in the OI constructor");

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/InitiateClimber.java

@@ -8,27 +8,21 @@ import edu.wpi.first.wpilibj.command.Command;
 public class InitiateClimber extends Command
 {
 	boolean climb;
-	boolean saftey;
 	float speed;
 
-	public InitiateClimber(boolean Climb, int speed) {
+	public InitiateClimber(boolean Climb, float speed) {
 		requires(Robot.climber);
 		this.climb = Climb;
 		this.speed = speed;
 	}
 
-	public startSaftey(boolean saftey){
-		requires(Robot.climber);
-		this.saftey = saftey;
-	}
-
 	@Override
 	protected void initialize() {
 	}
 
 	@Override
 	protected void execute() {
-		if(climb && saftey){ //If climb and saftey button are pressed
+		if(climb){ //If climb and saftey button are pressed
 			Robot.climber.setClimbSpeed(climb, speed);
 		}
 		else{

2019robot/src/main/java/org/usfirst/frc4388/robot/commands/setClimberSafety.java

@@ -0,0 +1,47 @@
+package org.usfirst.frc4388.robot.commands;
+
+import org.usfirst.frc4388.robot.Robot;
+import org.usfirst.frc4388.robot.Constants;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class setClimberSafety extends Command {
+  boolean safety;
+  public setClimberSafety(boolean safety) {
+    requires(Robot.climber);
+		this.safety = safety;
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    if(safety){
+      Robot.climber.safetySwitch(true);
+    }
+    else{
+      Robot.climber.safetySwitch(false);
+    }
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}

2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Climber.java

@@ -50,7 +50,7 @@ public class Climber extends Subsystem{
 		//Limit and Saftey vars
 	LimitSwitchSource limitSwitchSource;
 	SensorCollection isPressed;
-	boolean safteySwitch;
+	boolean safetySwitch;
 	
 	public Climber(){
 		try{
@@ -79,7 +79,8 @@ public class Climber extends Subsystem{
     }
     
 	public void setClimbSpeed(boolean Climb, float speed) {
-		if (Climb) {
+		if (Climb && safetySwitch) {
+			System.out.println("TriggerVal = " + speed);
 			if(isPressed.isFwdLimitSwitchClosed()){ //If back at max height
 				climberBack.set(0);
 				climberFront.set(FRONT_FREQ * speed);
@@ -89,14 +90,18 @@ public class Climber extends Subsystem{
 				climberFront.set(FRONT_FREQ * speed);
 			}		
 		}
-		if (Climb == false) {
+		if (Climb == false || safetySwitch == false) {
 			climberBack.set(0);
 			climberFront.set(0);
 		}
 	}
 
 
-	public flipRatchet(){
+	public void safetySwitch(boolean safetySwitch){
+		this.safetySwitch = safetySwitch;
+	}
+
+	public void flipRatchet(){
 		//Code to flip out the front arms of the climber WIP
 	}
 }