From f1f1de18bb1aebe299dcac422e4ee280888e1bcf Mon Sep 17 00:00:00 2001 From: aarav18 Date: Tue, 25 Jan 2022 17:17:07 -0700 Subject: [PATCH] Done Test code Co-Authored-By: 76842 <90875734+76842@users.noreply.github.com> --- src/main/java/frc4388/robot/Constants.java | 10 ++++---- .../java/frc4388/robot/RobotContainer.java | 20 ++++++++-------- src/main/java/frc4388/robot/RobotMap.java | 12 ++++++---- .../java/frc4388/robot/subsystems/Intake.java | 23 +++++++++---------- .../frc4388/robot/subsystems/Serializer.java | 18 +++++++++++---- 5 files changed, 46 insertions(+), 37 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 48d9057..3651898 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -68,18 +68,18 @@ public final class Constants { } public static final class SerializerConstants { - public static final double SERIALIZER_BELT_SPEED = 1.0; // TODO (currently max power, DO NOT RUN) - public static final double SERIALIZER_SHOOTER_BELT_SPEED = 1.0; // TODO (currently max power, DO NOT RUN) + public static final double SERIALIZER_BELT_SPEED = 1.d; // TODO (currently max power, DO NOT RUN) + public static final double SERIALIZER_SHOOTER_BELT_SPEED = 1.d; // TODO (currently max power, DO NOT RUN) // CAN IDs - public static final int SERIALIZER_BELT = 1; // TODO - public static final int SERIALIZER_SHOOTER_BELT = 2; // TODO + public static final int SERIALIZER_BELT = 2; // TODO + public static final int SERIALIZER_SHOOTER_BELT = 5; // TODO public static final int SERIALIZER_BELT_BEAM = 3; // TODO } public static final class IntakeConstants { // CAN IDs public static final int INTAKE_MOTOR = 3; - public static final int EXTENDER_MOTOR = 4; + public static final int EXTENDER_MOTOR = 6; } public static final class LEDConstants { public static final int LED_SPARK_ID = 0; diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index 2d1eba1..c2bdb96 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -29,7 +29,7 @@ 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, @@ -40,7 +40,7 @@ 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); @@ -58,9 +58,9 @@ 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( @@ -88,13 +88,13 @@ public class RobotContainer { .whenReleased(() -> m_robotIntake.runExtender(false)); // activates "Lit Mode" - new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) - .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) - .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); + // new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON) + // .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW)) + // .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN)); new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON) - .whenPressed(() -> m_robotSerializer.setSerializerStateWithBeam(true, m_robotSerializer.getBeam())) - .whenReleased(() -> m_robotSerializer.setSerializerStateWithBeam(false, m_robotSerializer.getBeam())); + .whenPressed(() -> m_robotSerializer.setSerializerState(true)) + .whenReleased(() -> m_robotSerializer.setSerializerState(false)); } /** diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java index 26af808..c9f4012 100644 --- a/src/main/java/frc4388/robot/RobotMap.java +++ b/src/main/java/frc4388/robot/RobotMap.java @@ -6,12 +6,14 @@ 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 @@ -21,7 +23,7 @@ public class RobotMap { public RobotMap() { configureLEDMotorControllers(); - configureSwerveMotorControllers(); + //configureSwerveMotorControllers(); } /* LED Subsystem */ @@ -31,7 +33,7 @@ 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); @@ -96,10 +98,10 @@ public class RobotMap { /* Serializer Subsystem */ - public final Spark serializerBelt = new Spark(SerializerConstants.SERIALIZER_BELT); - public final Spark serializerShooterBelt = new Spark(SerializerConstants.SERIALIZER_SHOOTER_BELT); + 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 Spark extenderMotor = new Spark(IntakeConstants.EXTENDER_MOTOR); + public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless); } diff --git a/src/main/java/frc4388/robot/subsystems/Intake.java b/src/main/java/frc4388/robot/subsystems/Intake.java index 571e332..7d4997e 100644 --- a/src/main/java/frc4388/robot/subsystems/Intake.java +++ b/src/main/java/frc4388/robot/subsystems/Intake.java @@ -17,29 +17,27 @@ public class Intake extends SubsystemBase { private WPI_TalonFX m_intakeMotor; private CANSparkMax m_extenderMotor; - private SparkMaxLimitSwitch m_inLimit; - private SparkMaxLimitSwitch m_outLimit; + // private SparkMaxLimitSwitch m_inLimit; + // private SparkMaxLimitSwitch m_outLimit; public boolean toggle; /** Creates a new Intake. */ - public Intake(WPI_TalonFX intakeMotor, Spark extenderMotor) { + public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor) { m_intakeMotor = intakeMotor; - //m_extenderMotor = extenderMotor; + m_extenderMotor = extenderMotor; - // m_intakeMotor.restoreFactoryDefaults(); - // m_extenderMotor.restoreFactoryDefaults(); + m_extenderMotor.restoreFactoryDefaults(); m_intakeMotor.setNeutralMode(NeutralMode.Brake); - m_extenderMotor.setIdleMode(IdleMode.kBrake); m_intakeMotor.setInverted(false); m_extenderMotor.setInverted(true); - 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 = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + // m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen); + // m_inLimit.enableLimitSwitch(true); + // m_outLimit.enableLimitSwitch(true); } @Override @@ -52,7 +50,8 @@ public class Intake extends SubsystemBase { } public void runExtender(boolean extended) { - //m_extenderMotor.set(extended ? 1 : -1); + double extenderMotorSpeed = extended ? 0.25d : 0.d; + m_extenderMotor.set(extenderMotorSpeed); } public void toggleExtender() { diff --git a/src/main/java/frc4388/robot/subsystems/Serializer.java b/src/main/java/frc4388/robot/subsystems/Serializer.java index 06815e8..8ef9612 100644 --- a/src/main/java/frc4388/robot/subsystems/Serializer.java +++ b/src/main/java/frc4388/robot/subsystems/Serializer.java @@ -4,37 +4,45 @@ import edu.wpi.first.wpilibj.motorcontrol.Spark; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants; import edu.wpi.first.wpilibj.DigitalInput; +import com.revrobotics.CANSparkMax; public class Serializer extends SubsystemBase{ - private Spark m_serializerBelt; - private Spark m_serializerShooterBelt; + private CANSparkMax m_serializerBelt; + private CANSparkMax m_serializerShooterBelt; private DigitalInput m_serializerBeam; private boolean serializerState; - public Serializer(Spark serializerBelt, Spark serializerShooterBelt) { + public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt) { m_serializerBelt = serializerBelt; m_serializerShooterBelt = serializerShooterBelt; - m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM); + //m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM); serializerState = false; setSerializerState(serializerState); + m_serializerBelt.set(0); + m_serializerShooterBelt.set(0); + } public boolean getBeam() { - return m_serializerBeam.get(); + System.out.println("oi"); + return false; } public void setSerializerStateWithBeam(boolean ctrlbutter, boolean beambroken) { boolean total = ctrlbutter || beambroken; setSerializerState(total); } public void setSerializerState(boolean state) { + System.out.println(state); setSerializerBeltState(state); setSerializerShooterBeltState(state); serializerState = state; } public void setSerializerBeltState(boolean state) { + System.out.println("oi"); double serializerBeltSpeed = state ? Constants.SerializerConstants.SERIALIZER_BELT_SPEED : 0.d; m_serializerBelt.set(serializerBeltSpeed); + System.out.println("oi2"); } public void setSerializerShooterBeltState(boolean state) {