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Merge branch 'Serializer' into Intake

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This commit is contained in:
Ryan Manley
2022-03-05 14:56:59 -07:00
parent 9bfee4f194 8ac9dcddca
commit 0cfd52a4e1
4 changed files with 44 additions and 13 deletions
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src/main/java/frc4388/robot/subsystems/Serializer.java
+2 -2
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@@ -12,10 +12,10 @@ public class Serializer extends SubsystemBase{
private DigitalInput m_serializerBeam;
private boolean serializerState;
public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt) {
public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt, DigitalInput serializerBeam) { //TODO: Only one motor lol
m_serializerBelt = serializerBelt;
m_serializerShooterBelt = serializerShooterBelt;
m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
m_serializerBeam = serializerBeam;
serializerState = false;
setSerializerState(serializerState);
src/main/java/frc4388/robot/subsystems/Storage.java
+8 -6
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@@ -11,20 +11,22 @@ import edu.wpi.first.wpilibj.DigitalInput;
import frc4388.robot.Constants.StorageConstants;
public class Storage extends SubsystemBase {
public CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
private DigitalInput m_beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);
private DigitalInput m_beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE);
public CANSparkMax m_storageMotor;
private DigitalInput m_beamShooter;
private DigitalInput m_beamIntake;
/** Creates a new Storage. */
public Storage() {
public Storage(CANSparkMax storageMotor, DigitalInput beamShooter, DigitalInput beamIntake) {
m_storageMotor = storageMotor;
m_beamShooter = beamShooter;
m_beamIntake = beamIntake;
}
/**
* If The Beam Is Broken, Run Storage
* If Else, Stop Running Storage
*/
public void manageStorage() {
if (m_beamShooter.get()) {
if (isBeamIntakeBroken()) { //Maybe needs to be shooter
runStorage(1.d);
} else { runStorage(0.d); }
}