Team4388/2025RidgeScape
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C4llSiqn
2025-03-03 17:49:06 -07:00
parent fe5466484b
commit 8bea597230
7 changed files with 86 additions and 12 deletions
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src/main/java/frc4388/robot/subsystems/Elevator.java
+13 -7
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@@ -49,7 +49,7 @@ public class Elevator extends Subsystem {
private DigitalInput basinBeamBreak;
private DigitalInput endeffectorLimitSwitch;
// private DigitalInput intakeIR;
private DigitalInput intakeIR;
public enum CoordinationState {
Waiting, // for coral into the though
@@ -69,15 +69,15 @@ public class Elevator extends Subsystem {
private CoordinationState currentState;
public Elevator(TalonFX elevatorTalonFX, TalonFX endeffectorTalonFX, DigitalInput basinLimitSwitch, DigitalInput endeffectorLimitSwitch, LED led) {
// public Elevator(TalonFX elevatorTalonFX, TalonFX endeffectorTalonFX, DigitalInput basinLimitSwitch, DigitalInput endeffectorLimitSwitch, DigitalInput intakeDigitalInput, LED led) {
// public Elevator(TalonFX elevatorTalonFX, TalonFX endeffectorTalonFX, DigitalInput basinLimitSwitch, DigitalInput endeffectorLimitSwitch, LED led) {
public Elevator(TalonFX elevatorTalonFX, TalonFX endeffectorTalonFX, DigitalInput basinLimitSwitch, DigitalInput endeffectorLimitSwitch, DigitalInput intakeDigitalInput, LED led) {
elevatorMotor = elevatorTalonFX;
endeffectorMotor = endeffectorTalonFX;
this.led = led;
this.basinBeamBreak = basinLimitSwitch;
this.endeffectorLimitSwitch = endeffectorLimitSwitch;
// this.intakeIR = intakeDigitalInput;
this.intakeIR = intakeDigitalInput;
elevatorMotor.setNeutralMode(NeutralModeValue.Brake);
endeffectorMotor.setNeutralMode(NeutralModeValue.Brake);
@@ -294,6 +294,7 @@ public class Elevator extends Subsystem {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Basin", basinBeamBreak.get() ? 1 : 0);
SmartDashboard.putNumber("endefector", endeffectorLimitSwitch.get() ? 1 : 0);
SmartDashboard.putNumber("intake", intakeIR.get() ? 1 : 0);
SmartDashboard.putString("State", currentState.toString());
if (disableAutoIntake) return;
@@ -310,18 +311,23 @@ public class Elevator extends Subsystem {
// }
}
public boolean isL4Primed(){
public boolean isL4Primed() {
return currentState == CoordinationState.PrimedFour;
}
public boolean isL3Primed(){
public boolean isL3Primed() {
return currentState == CoordinationState.PrimedThree;
}
public boolean hasCoral(){
public boolean hasCoral() {
return elevatorAtReference() && currentState == CoordinationState.Hovering && !endeffectorLimitSwitch.get();
}
public boolean readyToMove() {
// return !intakeIR.get() || hasCoral();
return hasCoral();
}
public void armShuffle(){
if(!basinBeamBreak.get()){
//shuffle the coral with the arm until coral hits beam break