Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

b e a m

Browse Source
This commit is contained in:
‮Zach Wilke
2022-01-15 15:21:46 -07:00
parent 3eef4fa0d0
commit 2527ab20be
3 changed files with 34 additions and 18 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Serializer.java
+27 -16
View File
@@ -1,31 +1,42 @@
package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants;
import edu.wpi.first.wpilibj.DigitalInput;
public class Serializer extends SubsystemBase{
private Spark m_serializerBelt;
private Spark m_serializerShooterBelt;
private DigitalInput m_serializerBeam;
private boolean serializerState;
public Serializer(Spark serializerBelt, Spark serializerShooterBelt) {
m_serializerBelt = serializerBelt;
m_serializerShooterBelt = serializerShooterBelt;
public Serializer(Spark serializerBelt, Spark serializerShooterBelt) {
m_serializerBelt = serializerBelt;
m_serializerShooterBelt = serializerShooterBelt;
m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
serializerState = false;
setSerializerState(serializerState);
}
serializerState = false;
setSerializerState(serializerState);
}
public boolean getBeam() {
return m_serializerBeam.get();
}
public void setSerializerStateWithBeam(boolean ctrlbutter, boolean beambroken) {
boolean total = ctrlbutter || beambroken;
setSerializerState(total);
}
public void setSerializerState(boolean state) {
double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d;
double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d;
public void setSerializerState(boolean state) {
double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d;
double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d;
m_serializerBelt.set(serializerBeltSpeed);
m_serializerShooterBelt.set(serializerShooterBeltSpeed);
m_serializerBelt.set(serializerBeltSpeed);
m_serializerShooterBelt.set(serializerShooterBeltSpeed);
serializerState = state;
}
serializerState = state;
}
public boolean getSerializerState() {
return serializerState;
}
}