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Intake fixes

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This commit is contained in:
ryan123rudder
2022-03-05 22:57:55 -07:00
parent 77e4ea1240
commit 0e063176cd
5 changed files with 65 additions and 50 deletions
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src/main/java/frc4388/robot/subsystems/Serializer.java
+9 -31
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@@ -3,6 +3,7 @@ package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants;
import frc4388.robot.Constants.SerializerConstants;
import edu.wpi.first.wpilibj.DigitalInput;
import com.revrobotics.CANSparkMax;
@@ -14,15 +15,16 @@ public class Serializer extends SubsystemBase{
public Serializer(CANSparkMax serializerBelt, /*CANSparkMax serializerShooterBelt,*/ DigitalInput serializerBeam) {
m_serializerBelt = serializerBelt;
// m_serializerShooterBelt = serializerShooterBelt;
m_serializerBeam = serializerBeam;
serializerState = false;
setSerializerState(serializerState);
m_serializerBelt.set(0);
// m_serializerShooterBelt.set(0);
}
public void setSerializer(double input){
m_serializerBelt.set(input);
}
/**
* Gets The State Of The Beam
* @return The State Of The Beam
@@ -30,40 +32,16 @@ public class Serializer extends SubsystemBase{
public boolean getBeam() {
return m_serializerBeam.get();
}
/**
* Sets The Serializer State With The Beam
* @param state Your State Of The Button
* @param beambroken The State of the Beam Senser
*/
public void setSerializerStateWithBeam(boolean state, boolean beambroken) {
boolean total = state || beambroken;
setSerializerState(total);
public void setSerializerStateWithBeam() {
if (m_serializerBeam.get()) setSerializer(0.0);
else setSerializer(SerializerConstants.SERIALIZER_BELT_SPEED);
}
/**
* Sets The Serializer State With The Beam
* @param state Your State Of The Button
*/
public void setSerializerState(boolean state) {
setSerializerBeltState(state);
// setSerializerShooterBeltState(state);
serializerState = state;
}
/**
* Sets the Serializer Belt State
* @param state Your State Of The Button
*/
public void setSerializerBeltState(boolean state) {
double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d;
m_serializerBelt.set(serializerBeltSpeed);
}
// /**
// * Sets the Shooter Belt State
// * @param state Your State Of The Button
// */
// public void setSerializerShooterBeltState(boolean state) {
// double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d;
// m_serializerShooterBelt.set(serializerShooterBeltSpeed);
// }
/**
* Gets the Serializer State