Team4388/2024AcrossTheRidgebotiverse
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talon intake

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This commit is contained in:
Abhishrek05
2024-02-20 18:56:57 -07:00
parent 2758e01cd2
commit 00f714f845
3 changed files with 41 additions and 30 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+20 -20
View File
@@ -67,7 +67,7 @@ public class RobotContainer {
private Command intakeToShootStuff = new ArmIntakeIn(m_robotIntake, m_robotShooter);
private SequentialCommandGroup intakeToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.pidIn()),
new InstantCommand(() -> m_robotIntake.talonPIDIn()),
new InstantCommand(() -> m_robotShooter.spin())
);
@@ -77,12 +77,12 @@ public class RobotContainer {
private SequentialCommandGroup ejectToShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake)
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake)
);
private SequentialCommandGroup turnOffShoot = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
);
/* Autos */
@@ -93,20 +93,20 @@ public class RobotContainer {
private SequentialCommandGroup oneNoteStartingSpeaker = new SequentialCommandGroup (
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
new WaitCommand(1).asProxy(),
new JoystickPlayback(m_robotSwerveDrive, "Taxi.txt")
);
private SequentialCommandGroup oneNoteStartingSpeakerStationary = new SequentialCommandGroup (
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
);
private SequentialCommandGroup oneNoteStartingFromLeft = new SequentialCommandGroup(
startLeftMoveRight.asProxy(),
@@ -121,10 +121,10 @@ public class RobotContainer {
private SequentialCommandGroup twoNoteStartingFromSpeaker = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake),
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake),
intakeToShootStuff.asProxy(),
new WaitCommand(1).asProxy(),
new JoystickPlayback(m_robotSwerveDrive, "TwoNotePrt1.txt"),
@@ -134,10 +134,10 @@ public class RobotContainer {
new WaitCommand(0.5).asProxy(),
new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotIntake.handoff(), m_robotIntake),
new InstantCommand(() -> m_robotIntake.talonHandoff(), m_robotIntake),
new WaitCommand(1).asProxy(),
new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter),
new InstantCommand(() -> m_robotIntake.stopIntakeMotors(), m_robotIntake)
new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors(), m_robotIntake)
);
private PlaybackChooser playbackChooser = new PlaybackChooser(m_robotSwerveDrive)
.addOption("Taxi Auto", taxi.asProxy())
@@ -213,25 +213,25 @@ public class RobotContainer {
/* Operator Buttons */
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDIn()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.pidOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopArmMotor()));
.onTrue(new InstantCommand(() -> m_robotIntake.talonPIDOut()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopArmMotor()));
new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.spinIntakeMotor()))
.onFalse(new InstantCommand(() -> m_robotIntake.stopIntakeMotors()));
.onTrue(new InstantCommand(() -> m_robotIntake.talonSpinIntakeMotor()))
.onFalse(new InstantCommand(() -> m_robotIntake.talonStopIntakeMotors()));
// Override Intake Position encoder: out
new JoystickButton(getDeadbandedOperatorController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(-53), m_robotIntake));
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(-53), m_robotIntake));
// Override Intake Position encoder: in
new JoystickButton(getDeadbandedOperatorController(), XboxController.START_BUTTON)
.onTrue(new InstantCommand(() -> m_robotIntake.setPivotEncoderPosition(0), m_robotIntake));
.onTrue(new InstantCommand(() -> m_robotIntake.talonSetPivotEncoderPosition(0), m_robotIntake));
//Spin Shooter Motors
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
@@ -245,7 +245,7 @@ public class RobotContainer {
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(i)
.onFalse(new InstantCommand(() -> m_robotIntake.pidIn()));
.onFalse(new InstantCommand(() -> m_robotIntake.talonPIDIn()));
}
src/main/java/frc4388/robot/commands/Intake/ArmIntakeIn.java
+10 -10
View File
@@ -38,15 +38,15 @@ public class ArmIntakeIn extends Command {
// Returns true when the command should end.
@Override
public boolean isFinished()
{
if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0)))
{
return !true==true;
}
else
{
return !false==!(!(true));
}
public boolean isFinished() {
return robotIntake.getTalonIntakeLimitSwitchState();
// if(!(!robotIntake.getTalonIntakeLimitSwitchState() != !false) && ((-1.0 / 0.0) == (-2.0 / 0.0)))
// {
// return !true==true;
// }
// else
// {
// return !false==!(!(true));
// }
}
}
src/main/java/frc4388/robot/subsystems/Intake.java
+11
View File
@@ -148,6 +148,17 @@ public class Intake extends SubsystemBase {
return r;
}
public void talonSetPivotEncoderPosition(int val) {
talonPivot.setPosition(val);
}
public void talonStopIntakeMotors() {
talonIntake.set(0);
}
public void talonStopArmMotor() {
talonPivot.set(0);
}
// ! NEO Methods