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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
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src/main/java/frc4388/robot/Constants.java
+3 -2
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@@ -72,8 +72,9 @@ public final class Constants {
public static final double SERIALIZER_SHOOTER_BELT_SPEED = 1.0; // TODO (currently max power, DO NOT RUN) public static final double SERIALIZER_SHOOTER_BELT_SPEED = 1.0; // TODO (currently max power, DO NOT RUN)
// CAN IDs // CAN IDs
public static final int SERIALIZER_BELT = 1; // TODO public static final int SERIALIZER_BELT = -1; // TODO
public static final int SERIALIZER_SHOOTER_BELT = 1; // TODO public static final int SERIALIZER_SHOOTER_BELT = -1; // TODO
public static final int SERIALIZER_BELT_BEAM = -1; // TODO
} }
public static final class LEDConstants { public static final class LEDConstants {
src/main/java/frc4388/robot/RobotContainer.java
+4
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@@ -78,6 +78,10 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whenPressed(() -> m_robotSerializer.setSerializerStateWithBeam(true, m_robotSerializer.getBeam()))
.whenReleased(() -> m_robotSerializer.setSerializerStateWithBeam(false, m_robotSerializer.getBeam()));
} }
/** /**
src/main/java/frc4388/robot/subsystems/Serializer.java
+27 -16
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@@ -1,31 +1,42 @@
package frc4388.robot.subsystems; package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.motorcontrol.Spark; import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants; import frc4388.robot.Constants;
import edu.wpi.first.wpilibj.DigitalInput;
public class Serializer extends SubsystemBase{ public class Serializer extends SubsystemBase{
private Spark m_serializerBelt; private Spark m_serializerBelt;
private Spark m_serializerShooterBelt; private Spark m_serializerShooterBelt;
private DigitalInput m_serializerBeam;
private boolean serializerState; private boolean serializerState;
public Serializer(Spark serializerBelt, Spark serializerShooterBelt) { public Serializer(Spark serializerBelt, Spark serializerShooterBelt) {
m_serializerBelt = serializerBelt; m_serializerBelt = serializerBelt;
m_serializerShooterBelt = serializerShooterBelt; m_serializerShooterBelt = serializerShooterBelt;
m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
serializerState = false; serializerState = false;
setSerializerState(serializerState); 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) { m_serializerBelt.set(serializerBeltSpeed);
double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d; m_serializerShooterBelt.set(serializerShooterBeltSpeed);
double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d;
m_serializerBelt.set(serializerBeltSpeed); serializerState = state;
m_serializerShooterBelt.set(serializerShooterBeltSpeed); }
serializerState = state; public boolean getSerializerState() {
} return serializerState;
}
} }