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extender intake group command DONE

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This commit is contained in:
aarav18
2022-03-14 15:16:21 -06:00
parent a8733ce5a1
commit bc14a85fc7
7 changed files with 156 additions and 35 deletions
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src/main/java/frc4388/robot/subsystems/Extender.java
+24 -10
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@@ -4,20 +4,24 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.led.ColorFlowAnimation.Direction;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkMaxLimitSwitch;
import com.revrobotics.CANSparkMax.SoftLimitDirection;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.ExtenderConstants;
import frc4388.utility.DesmosServer;
public class Extender extends SubsystemBase {
CANSparkMax m_extenderMotor;
public CANSparkMax m_extenderMotor;
private SparkMaxLimitSwitch m_inLimit;
private SparkMaxLimitSwitch m_outLimit;
public boolean toggle;
public int direction = 1;
/** Creates a new Extender. */
public Extender(CANSparkMax extenderMotor) {
@@ -26,13 +30,28 @@ public class Extender extends SubsystemBase {
m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_inLimit.enableLimitSwitch(true);
m_outLimit.enableLimitSwitch(true);
m_inLimit.enableLimitSwitch(false);
m_outLimit.enableLimitSwitch(false);
m_extenderMotor.setSoftLimit(SoftLimitDirection.kForward, (float) ExtenderConstants.EXTENDER_FORWARD_LIMIT);
m_extenderMotor.setSoftLimit(SoftLimitDirection.kReverse, (float) ExtenderConstants.EXTENDER_REVERSE_LIMIT);
setExtenderSoftLimits(true);
}
/**
* Set status of extender motor soft limits.
* @param set Boolean to set soft limits to.
*/
public void setExtenderSoftLimits(boolean set) {
m_extenderMotor.enableSoftLimit(SoftLimitDirection.kForward, set);
m_extenderMotor.enableSoftLimit(SoftLimitDirection.kReverse, set);
}
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Extender Position", m_extenderMotor.getEncoder().getPosition());
DesmosServer.putDouble("ExtenderPosition", m_extenderMotor.getEncoder().getPosition());
}
/**
@@ -47,12 +66,7 @@ public class Extender extends SubsystemBase {
public void runExtender(double input) {
// if (!m_serializer.getBeam() && input < 0.) return;
if (this.direction > 0) {}
m_extenderMotor.set(this.direction * input);
}
public void switchDirection() {
this.direction = this.direction * -1;
m_extenderMotor.set(input);
}
public double getCurrent() {
src/main/java/frc4388/robot/subsystems/Intake.java
+5 -1
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@@ -12,11 +12,13 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.commands.ExtenderIntakeGroup;
import com.revrobotics.CANSparkMax;
public class Intake extends SubsystemBase {
private WPI_TalonFX m_intakeMotor;
public WPI_TalonFX m_intakeMotor;
private Serializer m_serializer;
/** Creates a new Intake. */
@@ -28,6 +30,8 @@ public class Intake extends SubsystemBase {
@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Intake Percent Output", m_intakeMotor.get());
SmartDashboard.putNumber("Extender Direction", ExtenderIntakeGroup.direction);
}
/**
* Runs The Intake With Triggers as input