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configured input

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This commit is contained in:
66945
2022-01-28 16:40:49 -07:00
parent f9a12a3b7a
commit a4393d9f02
4 changed files with 30 additions and 14 deletions
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src/main/java/frc4388/robot/Constants.java
+4
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@@ -114,9 +114,13 @@ public final class Constants {
public static final class HooksConstants {
public static final int LEFT_HOOK_ID = -1;
public static final int RIGHT_HOOK_ID = -1;
public static final int LEFT_LIMIT_ID = -1;
public static final int RIGHT_LIMIT_ID = -1;
public static final double OPEN_POSITION = 0;
public static final double CLOSE_POSITION = 0;
public static final double CALIBRATION_SPEED = 0;
}
/**
* The OIConstants class contains the ID for the XBox controllers
src/main/java/frc4388/robot/RobotContainer.java
+4 -4
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@@ -45,7 +45,7 @@ public class RobotContainer {
private final Climber m_robotClimber = new Climber(m_robotMap.shoulder, m_robotMap.elbow, m_robotMap.gyro, false);
//private final Hooks m_hooks = new Hooks(m_robotMap.leftHook, m_robotMap.rightHook);
private final Hooks m_hooks = new Hooks(m_robotMap.leftHook, m_robotMap.rightHook, m_robotMap.leftHookLimit, m_robotMap.rightHookLimit);
/* Controllers */
private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -87,9 +87,9 @@ public class RobotContainer {
.whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
.whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
// new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
// .whenPressed(() -> m_hooks.setOpen(true))
// .whenReleased(() -> m_hooks.setOpen(false));
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whenPressed(() -> m_hooks.setOpen(true))
.whenReleased(() -> m_hooks.setOpen(false));
}
/**
src/main/java/frc4388/robot/RobotMap.java
+10 -2
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@@ -4,10 +4,15 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_PigeonIMU;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.CAN;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.ClimberConstants;
@@ -102,6 +107,9 @@ public class RobotMap {
public final WPI_PigeonIMU gyro = null;//new WPI_PigeonIMU(ClimberConstants.GYRO_ID); // TODO
/* Hooks Subsystem */
//public final Servo leftHook = new Servo(HooksConstants.LEFT_HOOK_ID);
//public final Servo rightHook = new Servo(HooksConstants.RIGHT_HOOK_ID);
public final CANSparkMax leftHook = new CANSparkMax(HooksConstants.LEFT_HOOK_ID, MotorType.kBrushless);
public final CANSparkMax rightHook = new CANSparkMax(HooksConstants.RIGHT_HOOK_ID, MotorType.kBrushless);
public final DigitalInput leftHookLimit = new DigitalInput(HooksConstants.LEFT_LIMIT_ID);
public final DigitalInput rightHookLimit = new DigitalInput(HooksConstants.RIGHT_LIMIT_ID);
}
src/main/java/frc4388/robot/subsystems/Hooks.java
+12 -8
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@@ -3,6 +3,7 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.revrobotics.CANSparkMax;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.HooksConstants;
@@ -10,23 +11,25 @@ public class Hooks extends SubsystemBase {
private CANSparkMax m_leftHook;
private CANSparkMax m_rightHook;
private LimitSwitchNormal m_limitSwitch;
private DigitalInput m_leftLimitSwitch;
private DigitalInput m_rightLimitSwitch;
private double m_leftOffset;
private double m_rightOffset;
private boolean m_open;
public Hooks(CANSparkMax leftHook, CANSparkMax rightHook, LimitSwitchNormal limitSwitch) {
public Hooks(CANSparkMax leftHook, CANSparkMax rightHook, DigitalInput leftLimitSwitch, DigitalInput rightLimitSwitch) {
m_leftHook = leftHook;
m_rightHook = rightHook;
m_limitSwitch = limitSwitch;
m_leftLimitSwitch = leftLimitSwitch;
m_rightLimitSwitch = rightLimitSwitch;
m_open = false;
m_leftHook.set(.1);
m_rightHook.set(.1);
m_leftHook.set(HooksConstants.CALIBRATION_SPEED);
m_rightHook.set(HooksConstants.CALIBRATION_SPEED);
}
public void setOpen(boolean open) {
@@ -47,9 +50,10 @@ public class Hooks extends SubsystemBase {
@Override
public void periodic() {
if(m_limitSwitch.compareTo(LimitSwitchNormal.NormallyClosed) == 1) {
if(m_leftLimitSwitch.get())
m_leftOffset = m_leftHook.getEncoder().getPosition();
m_leftOffset = m_leftHook.getEncoder().getPosition();
}
if(m_rightLimitSwitch.get())
m_rightOffset = m_rightHook.getEncoder().getPosition();
}
}