mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 08:48:07 -06:00
Revert "Merge branch 'swerve' of https://github.com/Team4388/2022NoWayHome into swerve"
This reverts commit1725471613, reversing changes made tof895352bb9.
This commit is contained in:
aarav18
@@ -1,73 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.robot.subsystems;
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//Imported Limit switch ONLY
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import com.revrobotics.SparkMaxLimitSwitch;
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import com.revrobotics.SparkMaxLimitSwitch.Type;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import edu.wpi.first.wpilibj.motorcontrol.Spark;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANSparkMax.IdleMode;
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public class Intake extends SubsystemBase {
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private WPI_TalonFX m_intakeMotor;
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private CANSparkMax m_extenderMotor;
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private SparkMaxLimitSwitch m_inLimit;
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private SparkMaxLimitSwitch m_outLimit;
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public boolean toggle;
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/** Creates a new Intake. */
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public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor) {
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m_intakeMotor = intakeMotor;
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m_extenderMotor = extenderMotor;
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m_extenderMotor.restoreFactoryDefaults();
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m_intakeMotor.setNeutralMode(NeutralMode.Brake);
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m_intakeMotor.setInverted(false);
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m_extenderMotor.setInverted(true);
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m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
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m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
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m_inLimit.enableLimitSwitch(true);
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m_outLimit.enableLimitSwitch(true);
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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}
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/**
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* Runs The Intake With Triggers.
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* @param leftTrigger Left Trigger to Run -
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* @param rightTrigger Right Trigger to Run +
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*/
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public void runWithTriggers(double leftTrigger, double rightTrigger) {
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m_intakeMotor.set(rightTrigger - leftTrigger);
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}
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/**
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* Runs The Extender
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* @param extended Wether the Extender Is Extended
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*/
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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?)
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double extenderMotorSpeed = extended ? 0.25d : 0.d;
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m_extenderMotor.set(extenderMotorSpeed);
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}
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/**
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* Toggles The Extender
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*/
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public void toggleExtender() {
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toggle = !toggle;
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runExtender(toggle);
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}
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//Test
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}
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@@ -1,75 +0,0 @@
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package frc4388.robot.subsystems;
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import edu.wpi.first.wpilibj.motorcontrol.Spark;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc4388.robot.Constants;
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import edu.wpi.first.wpilibj.DigitalInput;
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import com.revrobotics.CANSparkMax;
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public class Serializer extends SubsystemBase{
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private CANSparkMax m_serializerBelt;
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private CANSparkMax m_serializerShooterBelt;
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private DigitalInput m_serializerBeam;
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private boolean serializerState;
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public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt) {
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m_serializerBelt = serializerBelt;
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m_serializerShooterBelt = serializerShooterBelt;
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m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
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serializerState = false;
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setSerializerState(serializerState);
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m_serializerBelt.set(0);
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m_serializerShooterBelt.set(0);
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}
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/**
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* Gets The State Of The Beam
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* @return The State Of The Beam
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*/
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public boolean getBeam() {
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return m_serializerBeam.get();
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}
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/**
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* Sets The Serializer State With The Beam
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* @param state Your State Of The Button
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* @param beambroken The State of the Beam Senser
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*/
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public void setSerializerStateWithBeam(boolean state, boolean beambroken) {
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boolean total = state || beambroken;
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setSerializerState(total);
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}
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/**
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* Sets The Serializer State With The Beam
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* @param state Your State Of The Button
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*/
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public void setSerializerState(boolean state) {
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setSerializerBeltState(state);
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setSerializerShooterBeltState(state);
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serializerState = state;
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}
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/**
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* Sets the Serializer Belt State
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* @param state Your State Of The Button
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*/
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public void setSerializerBeltState(boolean state) {
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double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d;
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m_serializerBelt.set(serializerBeltSpeed);
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}
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/**
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* Sets the Shooter Belt State
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* @param state Your State Of The Button
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*/
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public void setSerializerShooterBeltState(boolean state) {
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double serializerShooterBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_SHOOTER_BELT_SPEED : 0.d;
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m_serializerShooterBelt.set(serializerShooterBeltSpeed);
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}
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/**
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* Gets the Serializer State
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* @return The Serializer State
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*/
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public boolean getSerializerState() {
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return serializerState;
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}
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}
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@@ -1,61 +0,0 @@
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc4388.robot.subsystems;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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import edu.wpi.first.wpilibj.DigitalInput;
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import frc4388.robot.Constants.StorageConstants;
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public class Storage extends SubsystemBase {
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public CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
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private DigitalInput m_beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);
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private DigitalInput m_beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE);
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/** Creates a new Storage. */
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public Storage() {
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}
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/**
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* If The Beam Is Broken, Run Storage
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* If Else, Stop Running Storage
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*/
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public void manageStorage() {
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if (m_beamShooter.get()) {
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runStorage(1.d);
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} else { runStorage(0.d); }
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}
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/**
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* Runs The Storage at a Specifyed Speed
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* @param input The Specifyed Speed
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*/
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public void runStorage(double input) {
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m_storageMotor.set(input);
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}
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/**
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* Gets The Beam State On The Shooter
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* @return The State Of The Beam on the Shooter
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*/
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public boolean getBeamShooter(){
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return m_beamShooter.get();
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}
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/**
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* Gets The Beam State Of The Intake
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* @return The Beam State Of The Intake
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*/
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public boolean getBeamIntake(){
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return m_beamIntake.get();
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}
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@Override
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/**
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* Every Robot Tick Manage The Storage
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*/
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public void periodic() {
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manageStorage();
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}
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}
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