Merge branch 'swerve' of https://github.com/Team4388/2022NoWayHome into swerve

src/main/java/frc4388/robot/subsystems/Intake.java

@@ -0,0 +1,73 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+//Imported Limit switch ONLY
+import com.revrobotics.SparkMaxLimitSwitch;
+import com.revrobotics.SparkMaxLimitSwitch.Type;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
+
+public class Intake extends SubsystemBase {
+
+  private WPI_TalonFX m_intakeMotor;
+  private CANSparkMax m_extenderMotor;
+  private SparkMaxLimitSwitch m_inLimit;
+  private SparkMaxLimitSwitch m_outLimit;
+
+  public boolean toggle;
+
+  /** Creates a new Intake. */
+  public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor) {
+    m_intakeMotor = intakeMotor;
+    m_extenderMotor = extenderMotor; 
+
+    m_extenderMotor.restoreFactoryDefaults();
+
+    m_intakeMotor.setNeutralMode(NeutralMode.Brake);
+    m_intakeMotor.setInverted(false);
+    m_extenderMotor.setInverted(true);
+    
+    m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
+    m_inLimit.enableLimitSwitch(true);
+    m_outLimit.enableLimitSwitch(true);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+  /**
+   * Runs The Intake With Triggers.
+   * @param leftTrigger Left Trigger to Run -
+   * @param rightTrigger Right Trigger to Run +
+   */
+  public void runWithTriggers(double leftTrigger, double rightTrigger) {
+    m_intakeMotor.set(rightTrigger - leftTrigger);
+  }
+  /**
+   * Runs The Extender
+   * @param extended Wether the Extender Is Extended
+   */
+  public void runExtender(boolean extended) { //TODO: Do not bring intake in if there is a ball in the extender (check if intake being in brakes the beam brake?)
+    double extenderMotorSpeed = extended ? 0.25d : 0.d;
+    m_extenderMotor.set(extenderMotorSpeed);
+  }
+  /**
+   * Toggles The Extender
+  */
+  public void toggleExtender() {
+    toggle = !toggle;
+    runExtender(toggle);
+  }
+  //Test
+}

src/main/java/frc4388/robot/subsystems/Serializer.java

@@ -0,0 +1,75 @@
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants;
+import edu.wpi.first.wpilibj.DigitalInput;
+import com.revrobotics.CANSparkMax;
+
+public class Serializer extends SubsystemBase{
+  private CANSparkMax m_serializerBelt;
+  private CANSparkMax m_serializerShooterBelt;
+  private DigitalInput m_serializerBeam;
+  private boolean serializerState;
+
+  public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt) {
+    m_serializerBelt = serializerBelt;
+    m_serializerShooterBelt = serializerShooterBelt;
+    m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
+
+    serializerState = false;
+    setSerializerState(serializerState);
+    m_serializerBelt.set(0);
+    m_serializerShooterBelt.set(0);
+    
+  }
+  /**
+   * Gets The State Of The Beam
+   * @return The State Of The Beam
+   */
+  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);
+  }
+  /**
+   * 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
+   * @return The Serializer State
+   */
+  public boolean getSerializerState() {
+    return serializerState;
+  }
+}

src/main/java/frc4388/robot/subsystems/Storage.java

@@ -0,0 +1,61 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+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);
+
+  /** Creates a new Storage. */
+  public Storage() {
+
+  }
+  /**
+   * If The Beam Is Broken, Run Storage
+   * If Else, Stop Running Storage
+   */
+  public void manageStorage() {
+    if (m_beamShooter.get()) {
+      runStorage(1.d);
+    } else { runStorage(0.d); }
+  }
+  /**
+   * Runs The Storage at a Specifyed Speed
+   * @param input The Specifyed Speed
+   */
+  public void runStorage(double input) {
+    m_storageMotor.set(input);
+  }
+  /**
+   * Gets The Beam State On The Shooter
+   * @return The State Of The Beam on the Shooter
+   */
+  public boolean getBeamShooter(){
+    return m_beamShooter.get();
+  }
+
+  /**
+   * Gets The Beam State Of The Intake
+   * @return The Beam State Of The Intake
+   */
+  public boolean getBeamIntake(){
+    return m_beamIntake.get();
+  }
+
+  @Override
+  /**
+   * Every Robot Tick Manage The Storage
+   */
+  public void periodic() {
+    manageStorage();
+  }
+}