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manage storage + alliance (needs testing)

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This commit is contained in:
aarav18
2022-03-16 13:59:10 -06:00
parent 83c9369aa7
commit 7ae7591951
7 changed files with 114 additions and 20 deletions
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src/main/java/frc4388/robot/subsystems/Storage.java
+9 -1
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@@ -6,7 +6,12 @@ package frc4388.robot.subsystems;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DriverStation;
import edu.wpi.first.wpilibj.DriverStation.Alliance;
import com.revrobotics.ColorSensorV3;
import edu.wpi.first.wpilibj.util.Color;
@@ -58,7 +63,10 @@ public class Storage extends SubsystemBase {
// return (m_colorSensor.getBlue() >= 200 && m_colorSensor.getRed() < 100 && m_colorSensor.getGreen() < 100);
return (m_colorSensor.getColor() == Color.kBlue);
}
public Alliance getColor() {
return (getRed() ? Alliance.Red : Alliance.Blue);
}
@Override
/**
src/main/java/frc4388/robot/subsystems/Turret.java
+3 -7
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@@ -31,10 +31,7 @@ public class Turret extends SubsystemBase {
// MotorType.kBrushless);
public static Gains m_shooterTGains = ShooterConstants.SHOOTER_TURRET_GAINS;
SparkMaxPIDController m_boomBoomRotatePIDController;
public RelativeEncoder m_boomBoomRotateEncoder;
SparkMaxPIDController m_boomBoomRotatePIDController;
public SparkMaxPIDController m_boomBoomRotatePIDController;
public RelativeEncoder m_boomBoomRotateEncoder;
SparkMaxLimitSwitch m_boomBoomLeftLimit;
@@ -141,9 +138,8 @@ public class Turret extends SubsystemBase {
}
public double getBoomBoomAngleDegrees() {
return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360
/ ShooterConstants.TURRET_MOTOR_ROTS_PER_ROT;
} // TODO: does this method work?
return (getEncoderPosition() * ShooterConstants.TURRET_DEGREES_PER_ROT);
}
public double getCurrent(){
return m_boomBoomRotateMotor.getOutputCurrent();