From 78f3b47846daa63046d0baa8c788787bb88c115e Mon Sep 17 00:00:00 2001 From: Ryan Manley <42309874+ryan123rudder@users.noreply.github.com> Date: Sat, 5 Mar 2022 11:04:40 -0700 Subject: [PATCH] JavaDocs --- .../java/frc4388/robot/RobotContainer.java | 38 +++---------------- src/main/java/frc4388/robot/RobotMap.java | 16 +------- .../java/frc4388/robot/subsystems/Hood.java | 14 +++++-- .../java/frc4388/robot/subsystems/Intake.java | 17 +++++++-- .../frc4388/robot/subsystems/Serializer.java | 31 +++++++++++++-- .../frc4388/robot/subsystems/Storage.java | 20 +++++++++- 6 files changed, 78 insertions(+), 58 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 039eaf9..38c3459 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -10,9 +10,7 @@ import edu.wpi.first.wpilibj2.command.InstantCommand; import edu.wpi.first.wpilibj2.command.RunCommand; import edu.wpi.first.wpilibj2.command.button.JoystickButton; import frc4388.robot.Constants.*; -import frc4388.robot.subsystems.Intake; import frc4388.robot.subsystems.LED; -import frc4388.robot.subsystems.Serializer; import frc4388.robot.subsystems.SwerveDrive; import frc4388.utility.LEDPatterns; import frc4388.utility.controller.IHandController; @@ -29,7 +27,7 @@ public class RobotContainer { /* RobotMap */ private final RobotMap m_robotMap = new RobotMap(); - /* Subsystems + /* Subsystems */ private final SwerveDrive m_robotSwerveDrive = new SwerveDrive( m_robotMap.leftFrontSteerMotor, m_robotMap.leftFrontWheelMotor, m_robotMap.rightFrontSteerMotor, m_robotMap.rightFrontWheelMotor, @@ -40,9 +38,6 @@ public class RobotContainer { m_robotMap.leftBackEncoder, m_robotMap.rightBackEncoder ); - */ - private final Intake m_robotIntake = new Intake(m_robotMap.intakeMotor, m_robotMap.extenderMotor); - private final Serializer m_robotSerializer = new Serializer(m_robotMap.serializerBelt, m_robotMap.serializerShooterBelt); private final LED m_robotLED = new LED(m_robotMap.LEDController); @@ -58,17 +53,12 @@ public class RobotContainer { /* Default Commands */ // drives the swerve drive with a two-axis input from the driver controller - // m_robotSwerveDrive.setDefaultCommand( - // new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(), - // getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive)); + m_robotSwerveDrive.setDefaultCommand( + new RunCommand(() -> m_robotSwerveDrive.driveWithInput(-getDriverController().getLeftXAxis(), + getDriverController().getLeftYAxis(), -getDriverController().getRightXAxis(), false), m_robotSwerveDrive)); - m_robotIntake.setDefaultCommand( - new RunCommand(() -> m_robotIntake.runWithTriggers( - getDriverController().getLeftTriggerAxis(), getDriverController().getRightTriggerAxis()),m_robotIntake)); // continually sends updates to the Blinkin LED controller to keep the lights on - m_robotLED.setDefaultCommand( - new RunCommand(m_robotLED::updateLED, m_robotLED)); - // dri + m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED)); } /** @@ -79,28 +69,12 @@ public class RobotContainer { */ private void configureButtonBindings() { /* Driver Buttons */ - + /* Operator Buttons */ - - // extends and retracts the extender - new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) - .whenPressed(() -> m_robotIntake.extendExtender(true)) - .whenReleased(() -> m_robotIntake.extendExtender(false)); - // activates "Lit Mode" new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); - // revisit this later, not sure if we will still use this - new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON) - .whenPressed(() -> m_robotSerializer.setSerializerStateWithBeam(true, m_robotSerializer.getBeam())) - .whenReleased(() -> m_robotSerializer.setSerializerStateWithBeam(false, m_robotSerializer.getBeam())); - - // new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON) - // .whenPressed(() -> m_robotIntake.extendExtender(true)); - - new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON) - .whenPressed(() -> m_robotIntake.toggleExtender()); } /** diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index c9f4012..843323c 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -6,14 +6,10 @@ package frc4388.robot; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.sensors.CANCoder; -import com.revrobotics.CANSparkMax; import edu.wpi.first.wpilibj.motorcontrol.Spark; -import frc4388.robot.Constants.IntakeConstants; import frc4388.robot.Constants.LEDConstants; -import frc4388.robot.Constants.SerializerConstants; import frc4388.robot.Constants.SwerveDriveConstants; -import com.revrobotics.CANSparkMaxLowLevel.MotorType; /** * Defines and holds all I/O objects on the Roborio. This is useful for unit @@ -23,7 +19,7 @@ public class RobotMap { public RobotMap() { configureLEDMotorControllers(); - //configureSwerveMotorControllers(); + configureSwerveMotorControllers(); } /* LED Subsystem */ @@ -33,7 +29,7 @@ public class RobotMap { } - /* Swerve Subsystem + /* Swerve Subsystem */ public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID); public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID); public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID); @@ -96,12 +92,4 @@ public class RobotMap { //rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS); } - /* Serializer Subsystem */ - - public final CANSparkMax serializerBelt = new CANSparkMax(SerializerConstants.SERIALIZER_BELT, MotorType.kBrushless); - public final CANSparkMax serializerShooterBelt = new CANSparkMax(SerializerConstants.SERIALIZER_SHOOTER_BELT, MotorType.kBrushless); - - /* Intake Subsytem */ - public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR); - public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless); } diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java index 3895645..0ecb88b 100644 --- a/src/main/java/frc4388/robot/subsystems/Hood.java +++ b/src/main/java/frc4388/robot/subsystems/Hood.java @@ -66,18 +66,26 @@ public double m_fireAngle; // m_angleAdjusterPIDController.setReference(targetAngle, ControlType.kPosition); // } - + /** + * Runs The Hood + * @param input The Speed Times 0.6 + */ public void runHood(double input) { input *= .6; m_angleAdjustMotor.set(input); } - + /** + * Resets The Encoder + */ public void resetGyroAngleAdj(){ m_angleEncoder.setPosition(0); } - + /** + * Gets The Encoders Position + * @return The Encoders Position + */ public double getAnglePositionPID() { return m_angleEncoder.getPosition(); } diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java index 5e4d994..56c80b8 100644 --- a/src/main/java/frc4388/robot/subsystems/Intake.java +++ b/src/main/java/frc4388/robot/subsystems/Intake.java @@ -46,19 +46,28 @@ public class Intake extends SubsystemBase { public void periodic() { // This method will be called once per scheduler run } - + /** + * Runs The Intake With Triggers. + * @param leftTrigger Left Trigger to Run - + * @param rightTrigger Right Trigger to Run + + */ public void runWithTriggers(double leftTrigger, double rightTrigger) { m_intakeMotor.set(rightTrigger - leftTrigger); } - + /** + * Runs The Extender + * @param extended Wether the Extender Is Extended + */ 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?) double extenderMotorSpeed = extended ? 0.25d : 0.d; m_extenderMotor.set(extenderMotorSpeed); } - + /** + * Toggles The Extender + */ public void toggleExtender() { toggle = !toggle; - extendExtender(toggle); + runExtender(toggle); } //Test } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Serializer.java b/src/main/java/frc4388/robot/subsystems/Serializer.java index e9ec997..a3cf25e 100644 --- a/src/main/java/frc4388/robot/subsystems/Serializer.java +++ b/src/main/java/frc4388/robot/subsystems/Serializer.java @@ -23,29 +23,52 @@ public class Serializer extends SubsystemBase{ m_serializerShooterBelt.set(0); } + /** + * Gets The State Of The Beam + * @return The State Of The Beam + */ public boolean getBeam() { return m_serializerBeam.get(); } - public void setSerializerStateWithBeam(boolean ctrlbutter, boolean beambroken) { - boolean total = ctrlbutter || beambroken; + /** + * Sets The Serializer State With The Beam + * @param state Your State Of The Button + * @param beambroken The State of the Beam Senser + */ + public void setSerializerStateWithBeam(boolean state, boolean beambroken) { + boolean total = state || beambroken; setSerializerState(total); } + /** + * Sets The Serializer State With The Beam + * @param state Your State Of The Button + */ public void setSerializerState(boolean state) { setSerializerBeltState(state); setSerializerShooterBeltState(state); serializerState = state; } - + /** + * Sets the Serializer Belt State + * @param state Your State Of The Button + */ public void setSerializerBeltState(boolean state) { 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); } + /** + * Gets the Serializer State + * @return The Serializer State + */ public boolean getSerializerState() { return serializerState; } diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java index 9fc2df0..a922e27 100644 --- a/src/main/java/frc4388/robot/subsystems/Storage.java +++ b/src/main/java/frc4388/robot/subsystems/Storage.java @@ -19,24 +19,42 @@ public class Storage extends SubsystemBase { public Storage() { } + /** + * If The Beam Is Broken, Run Storage + * If Else, Stop Running Storage + */ public void manageStorage() { if (m_beamShooter.get()) { runStorage(1.d); } else { runStorage(0.d); } } + /** + * Runs The Storage at a Specifyed Speed + * @param input The Specifyed Speed + */ public void runStorage(double input) { m_storageMotor.set(input); } - + /** + * Gets The Beam State On The Shooter + * @return The State Of The Beam on the Shooter + */ public boolean getBeamShooter(){ return m_beamShooter.get(); } + /** + * Gets The Beam State Of The Intake + * @return The Beam State Of The Intake + */ public boolean getBeamIntake(){ return m_beamIntake.get(); } @Override + /** + * Every Robot Tick Manage The Storage + */ public void periodic() { manageStorage(); }