From 6a67b76bd947d90c58b28e4e5bbaa218b3c12fc5 Mon Sep 17 00:00:00 2001 From: Astatin3 Date: Mon, 23 Jan 2023 19:53:30 -0700 Subject: [PATCH 1/5] Development --- src/main/java/frc4388/robot/subsystems/Arm.java | 7 +++++++ .../java/frc4388/robot/subsystems/Claw.java | 17 +++++++++++++++++ 2 files changed, 24 insertions(+) create mode 100644 src/main/java/frc4388/robot/subsystems/Arm.java create mode 100644 src/main/java/frc4388/robot/subsystems/Claw.java diff --git a/src/main/java/frc4388/robot/subsystems/Arm.java b/src/main/java/frc4388/robot/subsystems/Arm.java new file mode 100644 index 0000000..ea5aa8e --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Arm.java @@ -0,0 +1,7 @@ +public class Arm { + // Moves arm to distence [dist] then returns new ang + public int funtion moveArm(int dist) { + // Move arm code + return newDist; + } +} \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Claw.java b/src/main/java/frc4388/robot/subsystems/Claw.java new file mode 100644 index 0000000..eae54e4 --- /dev/null +++ b/src/main/java/frc4388/robot/subsystems/Claw.java @@ -0,0 +1,17 @@ +public class claw { + // Opens claw + public void funtion openClaw() { + // Open claw + } + + // Closes claw + public void function closeClaw() { + //Close claw + } + + // Rotate wrist + public int function rotClaw(int rot) { + //Rotate wrist to ROT + return newRot; + } +} \ No newline at end of file From 86053b3162f7a7ec154445fa554f0926547fd718 Mon Sep 17 00:00:00 2001 From: Abhi <90010729+Abhishrek05@users.noreply.github.com> Date: Tue, 24 Jan 2023 17:04:19 -0700 Subject: [PATCH 2/5] claw done --- .../java/frc4388/robot/subsystems/Arm.java | 6 ++-- .../java/frc4388/robot/subsystems/Claw.java | 30 +++++++++++-------- 2 files changed, 22 insertions(+), 14 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Arm.java b/src/main/java/frc4388/robot/subsystems/Arm.java index ea5aa8e..8da4852 100644 --- a/src/main/java/frc4388/robot/subsystems/Arm.java +++ b/src/main/java/frc4388/robot/subsystems/Arm.java @@ -1,7 +1,9 @@ +package frc4388.robot.subsystems; + public class Arm { // Moves arm to distence [dist] then returns new ang - public int funtion moveArm(int dist) { + public int moveArm(int dist) { // Move arm code - return newDist; + return 0; } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/Claw.java b/src/main/java/frc4388/robot/subsystems/Claw.java index eae54e4..37793b1 100644 --- a/src/main/java/frc4388/robot/subsystems/Claw.java +++ b/src/main/java/frc4388/robot/subsystems/Claw.java @@ -1,17 +1,23 @@ -public class claw { +package frc4388.robot.subsystems; +import edu.wpi.first.wpilibj.PWM; + +public class Claw { + private PWM m_clawMotor; + private boolean m_open = false; + // Opens claw - public void funtion openClaw() { + public Claw(PWM m_clawMotor) { + this.m_clawMotor = m_clawMotor; + setClaw(true); + } + + public void setClaw(boolean open) { // Open claw + m_open = open; + m_clawMotor.setRaw(open ? 0 : 2000); } - // Closes claw - public void function closeClaw() { - //Close claw - } - - // Rotate wrist - public int function rotClaw(int rot) { - //Rotate wrist to ROT - return newRot; - } + public boolean isClawOpen() { + return m_open; + } } \ No newline at end of file From 16e951e7d08a89f621ca965d09c1626cb3b61c85 Mon Sep 17 00:00:00 2001 From: Connorppeach Date: Tue, 24 Jan 2023 17:41:00 -0700 Subject: [PATCH 3/5] beans --- src/main/java/frc4388/robot/Constants.java | 6 ++- .../java/frc4388/robot/subsystems/Arm.java | 38 +++++++++++++++++-- 2 files changed, 40 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index d50cd10..2f827cf 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -23,7 +23,11 @@ public final class Constants { public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; } - + public static final class ArmConstants { + public static final int minArmLen = 0; + public static final int maxArmLen = 1; + public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; + } public static final class LEDConstants { public static final int LED_SPARK_ID = 0; diff --git a/src/main/java/frc4388/robot/subsystems/Arm.java b/src/main/java/frc4388/robot/subsystems/Arm.java index ea5aa8e..10663c3 100644 --- a/src/main/java/frc4388/robot/subsystems/Arm.java +++ b/src/main/java/frc4388/robot/subsystems/Arm.java @@ -1,7 +1,39 @@ -public class Arm { +package frc4388.robot.subsystems; + +import com.ctre.phoenix.motorcontrol.ControlMode; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; +import frc4388.robot.Constants.ArmConstants; +import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Arm extends SubsystemBase { + private WPI_TalonFX m_armmotor; + private boolean m_debug; // Moves arm to distence [dist] then returns new ang - public int funtion moveArm(int dist) { + public Arm(WPI_TalonFX armmotor, boolean debug) { + armmotor.configFactoryDefault(); + m_armmotor = armmotor; + } + + public Arm(WPI_TalonFX armmoter) { + this(armmoter, false); + } + + public void armSetLength(double len) { + if (len > 1 || len < 0) return; // Move arm code - return newDist; + m_armmotor.set(ControlMode.Position, len * (ArmConstants.maxArmLen - ArmConstants.minArmLen) + + ArmConstants.minArmLen); + } + + public double getArmLength() { + return (m_armmotor.getSelectedSensorPosition() - ArmConstants.minArmLen) / + (ArmConstants.maxArmLen - ArmConstants.minArmLen); + } + + @Override + public void periodic() { + if (m_debug) + SmartDashboard.putNumber("Arm Motor", m_armmotor.getSelectedSensorPosition()); } } \ No newline at end of file From d72806ba5aff97634122a0f266d6b5080064ae84 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Tue, 24 Jan 2023 18:55:04 -0700 Subject: [PATCH 4/5] Renamed constants using convention --- src/main/java/frc4388/robot/Constants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 2f827cf..93ee12b 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -24,8 +24,8 @@ public final class Constants { public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; } public static final class ArmConstants { - public static final int minArmLen = 0; - public static final int maxArmLen = 1; + public static final int MIN_ARM_LEN = 0; + public static final int MAX_ARM_LEN = 1; public static final int SMARTDASHBOARD_UPDATE_FRAME = 2; } public static final class LEDConstants { From 3c0dce3dbdf7f637d75e9623590feb1c90ebdbe6 Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Tue, 24 Jan 2023 18:56:07 -0700 Subject: [PATCH 5/5] REnamed --- src/main/java/frc4388/robot/subsystems/Arm.java | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Arm.java b/src/main/java/frc4388/robot/subsystems/Arm.java index 10663c3..6367d4d 100644 --- a/src/main/java/frc4388/robot/subsystems/Arm.java +++ b/src/main/java/frc4388/robot/subsystems/Arm.java @@ -22,13 +22,13 @@ public class Arm extends SubsystemBase { public void armSetLength(double len) { if (len > 1 || len < 0) return; // Move arm code - m_armmotor.set(ControlMode.Position, len * (ArmConstants.maxArmLen - ArmConstants.minArmLen) + - ArmConstants.minArmLen); + m_armmotor.set(ControlMode.Position, len * (ArmConstants.MAX_ARM_LEN - ArmConstants.MIN_ARM_LEN) + + ArmConstants.MIN_ARM_LEN); } public double getArmLength() { - return (m_armmotor.getSelectedSensorPosition() - ArmConstants.minArmLen) / - (ArmConstants.maxArmLen - ArmConstants.minArmLen); + return (m_armmotor.getSelectedSensorPosition() - ArmConstants.MIN_ARM_LEN) / + (ArmConstants.MAX_ARM_LEN - ArmConstants.MIN_ARM_LEN); } @Override @@ -36,4 +36,4 @@ public class Arm extends SubsystemBase { if (m_debug) SmartDashboard.putNumber("Arm Motor", m_armmotor.getSelectedSensorPosition()); } -} \ No newline at end of file +}