Team4388/2022NoWayHome
1
0
Fork 0
mirror of https://github.com/Team4388/2022NoWayHome.git synced 2026-06-09 00:38:05 -06:00
Code Issues Packages Projects Releases Wiki Activity

Done Test code

Browse Source 
Co-Authored-By: 76842 <90875734+76842@users.noreply.github.com>
This commit is contained in:
aarav18
2022-01-25 17:17:07 -07:00
parent 9112c87156
commit f1f1de18bb
5 changed files with 46 additions and 37 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Serializer.java
+13 -5
View File
@@ -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) {