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Fix Storage Subsystem

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- Also improved the Gains object to have two constructors depending on what kind of output limits you want.
This commit is contained in:
Keenan D. Buckley
2020-03-08 12:14:24 -06:00
parent a7558a7511
commit 0b452d3309
5 changed files with 99 additions and 40 deletions
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src/main/java/frc4388/robot/commands/storage/ManageStorage.java
+13 -9
View File
@@ -18,6 +18,7 @@ public class ManageStorage extends CommandBase {
/* Keeps track of which beam breaks are pressed */
boolean isBallInIntake = false;
boolean isBallInStorage = false;
boolean isBallInUseless = false;
boolean isBallInShooter = false;
/* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
@@ -39,9 +40,10 @@ public class ManageStorage extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {
isBallInIntake = !m_storage.getBeam(StorageConstants.BEAM_SENSOR_INTAKE);
isBallInStorage = !m_storage.getBeam(StorageConstants.BEAM_SENSOR_STORAGE);
isBallInShooter = !m_storage.getBeam(StorageConstants.BEAM_SENSOR_SHOOTER);
isBallInIntake = !m_storage.getBeamIntake();
isBallInStorage = !m_storage.getBeamStorage();
isBallInUseless = !m_storage.getBeamUseless();
isBallInShooter = !m_storage.getBeamShooter();
m_isStorageEmpty = !isBallInStorage;
}
@@ -49,13 +51,15 @@ public class ManageStorage extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
isBallInIntake = !m_storage.getBeam(StorageConstants.BEAM_SENSOR_INTAKE);
isBallInStorage = !m_storage.getBeam(StorageConstants.BEAM_SENSOR_STORAGE);
isBallInShooter = !m_storage.getBeam(StorageConstants.BEAM_SENSOR_SHOOTER);
isBallInIntake = !m_storage.getBeamIntake();
isBallInStorage = !m_storage.getBeamStorage();
isBallInUseless = !m_storage.getBeamUseless();
isBallInShooter = !m_storage.getBeamShooter();
SmartDashboard.putBoolean("Ball in Intake", isBallInIntake);
SmartDashboard.putBoolean("Ball in Storage", isBallInStorage);
SmartDashboard.putBoolean("Ball in Shooter", isBallInShooter);
/// TODO: Delete/Comment these when done
SmartDashboard.putBoolean("!Ball in Intake!", isBallInIntake);
SmartDashboard.putBoolean("!Ball Storage!", isBallInStorage);
SmartDashboard.putBoolean("!Ball Shooter!", isBallInShooter);
if (m_storageMode == StorageMode.IDLE) {
runIdle();
src/main/java/frc4388/robot/commands/storage/StoragePrep.java
+1 -1
View File
@@ -33,7 +33,7 @@ public class StoragePrep extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (m_storage.getBeam(1)){
if (m_storage.getBeamShooter()){
//m_storage.runStorage(StorageConstants.STORAGE_SPEED);
}
else{