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Cleaning

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This commit is contained in:
Ryan Manley
2022-02-26 15:41:54 -07:00
parent aa6e06d4c0
commit fcdda5682d
4 changed files with 32 additions and 19 deletions
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src/main/java/frc4388/robot/subsystems/Serializer.java
+2 -2
View File
@@ -12,10 +12,10 @@ public class Serializer extends SubsystemBase{
private DigitalInput m_serializerBeam;
private boolean serializerState;
public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt) {
public Serializer(CANSparkMax serializerBelt, CANSparkMax serializerShooterBelt, DigitalInput serializerBeam) {
m_serializerBelt = serializerBelt;
m_serializerShooterBelt = serializerShooterBelt;
m_serializerBeam = new DigitalInput(Constants.SerializerConstants.SERIALIZER_BELT_BEAM);
m_serializerBeam = serializerBeam;
serializerState = false;
setSerializerState(serializerState);
src/main/java/frc4388/robot/subsystems/Storage.java
+12 -10
View File
@@ -11,16 +11,18 @@ import edu.wpi.first.wpilibj.DigitalInput;
import frc4388.robot.Constants.StorageConstants;
public class Storage extends SubsystemBase {
public CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
private DigitalInput m_beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);
private DigitalInput m_beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE);
public CANSparkMax m_storageMotor;
private DigitalInput m_beamShooter;
private DigitalInput m_beamIntake;
/** Creates a new Storage. */
public Storage() {
public Storage(CANSparkMax storageMotor, DigitalInput beamShooter, DigitalInput beamIntake) {
m_storageMotor = storageMotor;
m_beamShooter = beamShooter;
m_beamIntake = beamIntake;
}
public void manageStorage() {
if (m_beamShooter.get()) {
if (isBeamIntakeBroken()) { //Maybe needs to be shooter
runStorage(1.d);
} else { runStorage(0.d); }
}
@@ -28,12 +30,12 @@ public class Storage extends SubsystemBase {
m_storageMotor.set(input);
}
public boolean getBeamShooter(){
return m_beamShooter.get();
public boolean isBeamShooterBroken(){
return !m_beamShooter.get();
}
public boolean getBeamIntake(){
return m_beamIntake.get();
public boolean isBeamIntakeBroken(){
return !m_beamIntake.get();
}
@Override