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

now it builds (big money :) )

Browse Source
This commit is contained in:
evan
2022-03-05 15:32:48 -07:00
parent 0317520a9e
commit 77e4ea1240
6 changed files with 59 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Serializer.java
+13 -13
View File
@@ -8,19 +8,19 @@ import com.revrobotics.CANSparkMax;
public class Serializer extends SubsystemBase{
private CANSparkMax m_serializerBelt;
private CANSparkMax m_serializerShooterBelt;
// private CANSparkMax m_serializerShooterBelt;
private DigitalInput m_serializerBeam;
private boolean serializerState;
public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt, DigitalInput serializerBeam) { //TODO: Only one motor lol
public Serializer(CANSparkMax serializerBelt, /*CANSparkMax serializerShooterBelt,*/ DigitalInput serializerBeam) {
m_serializerBelt = serializerBelt;
m_serializerShooterBelt = serializerShooterBelt;
// m_serializerShooterBelt = serializerShooterBelt;
m_serializerBeam = serializerBeam;
serializerState = false;
setSerializerState(serializerState);
m_serializerBelt.set(0);
m_serializerShooterBelt.set(0);
// m_serializerShooterBelt.set(0);
}
/**
@@ -45,7 +45,7 @@ public class Serializer extends SubsystemBase{
*/
public void setSerializerState(boolean state) {
setSerializerBeltState(state);
setSerializerShooterBeltState(state);
// setSerializerShooterBeltState(state);
serializerState = state;
}
/**
@@ -56,14 +56,14 @@ public class Serializer extends SubsystemBase{
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);
}
// /**
// * 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
src/main/java/frc4388/robot/subsystems/Storage.java
+3 -1
View File
@@ -26,10 +26,11 @@ public class Storage extends SubsystemBase {
* If Else, Stop Running Storage
*/
public void manageStorage() {
if (isBeamIntakeBroken()) { //Maybe needs to be shooter
if (getBeamIntake()) { //Maybe needs to be shooter
runStorage(1.d);
} else { runStorage(0.d); }
}
/**
* Runs The Storage at a Specifyed Speed
* @param input The Specifyed Speed
@@ -52,6 +53,7 @@ public class Storage extends SubsystemBase {
public boolean getBeamIntake(){
return m_beamIntake.get();
}
@Override
/**