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extender rework new subsystem

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This commit is contained in:
aarav18
2022-03-12 15:05:32 -07:00
parent 863af799e0
commit 64391c99c2
4 changed files with 83 additions and 51 deletions
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src/main/java/frc4388/robot/subsystems/Extender.java
+66
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@@ -0,0 +1,66 @@
// 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 com.revrobotics.CANSparkMax;
import com.revrobotics.SparkMaxLimitSwitch;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Extender extends SubsystemBase {
CANSparkMax m_extenderMotor;
private SparkMaxLimitSwitch m_inLimit;
private SparkMaxLimitSwitch m_outLimit;
public boolean toggle;
/** Creates a new Extender. */
public Extender(CANSparkMax extenderMotor) {
m_extenderMotor = extenderMotor;
m_extenderMotor.restoreFactoryDefaults();
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 Extender-
* @param extended Wether the Extender Is Extended
*/
// public void runExtender(boolean extended) {
// if (!m_serializer.getBeam() && !extended) return;
// double extenderMotorSpeed = extended ? 0.25d : -0.25d;
// m_extenderMotor.set(extenderMotorSpeed);
// }
public void runExtender(double input) {
// if (!m_serializer.getBeam() && input < 0.) return;
m_extenderMotor.set(input);
}
public double getCurrent() {
return m_extenderMotor.getOutputCurrent();
}
/**
* Toggles The Extender
*/
// public void toggleExtender() {
// toggle = !toggle;
// runExtender(toggle);
// }
}
src/main/java/frc4388/robot/subsystems/Intake.java
+4 -42
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@@ -17,29 +17,15 @@ import com.revrobotics.CANSparkMax;
public class Intake extends SubsystemBase {
private WPI_TalonFX m_intakeMotor;
private CANSparkMax m_extenderMotor;
private Serializer m_serializer;
private SparkMaxLimitSwitch m_inLimit;
private SparkMaxLimitSwitch m_outLimit;
public boolean toggle;
/** Creates a new Intake. */
public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor, Serializer serializer) {
public Intake(WPI_TalonFX intakeMotor, Serializer serializer) {
m_intakeMotor = intakeMotor;
m_extenderMotor = extenderMotor;
m_serializer = serializer;
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
@@ -56,32 +42,8 @@ public class Intake extends SubsystemBase {
SmartDashboard.putNumber("Intake Current Supply", m_intakeMotor.getSupplyCurrent());
SmartDashboard.putNumber("Intake Current Stator", m_intakeMotor.getStatorCurrent());
}
/**
* Runs The Extender-
* @param extended Wether the Extender Is Extended
*/
public void runExtender(boolean extended) {
if (!m_serializer.getBeam() && !extended) return;
double extenderMotorSpeed = extended ? 0.25d : -0.25d;
m_extenderMotor.set(extenderMotorSpeed);
}
/**
* Moves the extender motor to pull the intake in or out
* @param input A value from -1.0 to 1.0, positive is in
*/
public void runExtender(double input) {
if (!m_serializer.getBeam() && input < 0.) return;
m_extenderMotor.set(input);
}
/**
* Toggles The Extender
*/
public void toggleExtender() {
toggle = !toggle;
runExtender(toggle);
}
public double getCurrent(){
return m_intakeMotor.getSupplyCurrent() + m_extenderMotor.getOutputCurrent();
public double getCurrent() {
return m_intakeMotor.getSupplyCurrent();
}
}