Team4388/RiseOfRidgebotics2020
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This commit is contained in:
ryan123rudder
2020-02-26 17:31:57 -07:00
parent 011146b9ec
commit 1cc3aef303
11 changed files with 24 additions and 102 deletions
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src/main/java/frc4388/robot/commands/ShootFireGroup.java
+3 -3
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@@ -25,10 +25,10 @@ public class ShootFireGroup extends ParallelRaceGroup {
*/
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
addCommands(
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(7000, m_shooter.m_shooterFalcon.getSelectedSensorVelocity())),
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel(), m_shooter.m_shooterFalcon.getSelectedSensorVelocity())),
new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
new HoldTarget(m_shooter, m_shooterAim)
//new StorageRun(m_storage)
new HoldTarget(m_shooter, m_shooterAim),
new StorageRun(m_storage)
);
}
}
src/main/java/frc4388/robot/commands/ShootPrepGroup.java
+2 -2
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@@ -26,8 +26,8 @@ public class ShootPrepGroup extends ParallelCommandGroup {
public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, Storage m_storage) {
addCommands(
new TrackTarget(m_shooter, m_shooterAim),
new ShooterVelocityControlPID(m_shooter)
//new StoragePrepAim(m_storage)
new ShooterVelocityControlPID(m_shooter),
new StoragePrepAim(m_storage)
);
}
}
src/main/java/frc4388/robot/commands/ShooterVelocityControlPID.java
+1 -1
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@@ -33,7 +33,7 @@ public class ShooterVelocityControlPID extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(7000, m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel(), m_shooter.m_shooterFalcon.getSelectedSensorVelocity());
m_shooter.runAngleAdjustPID(m_shooter.addFireAngle());
}
src/main/java/frc4388/robot/commands/StorageIntake.java
+3 -4
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@@ -38,12 +38,11 @@ public class StorageIntake extends CommandBase {
public void execute() {
if (m_storage.getBeam(0)){
m_storage.setStoragePID(m_storage.getEncoderPos() + StorageConstants.STORAGE_PARTIAL_BALL);
m_intake.runExtender(-IntakeConstants.EXTENDER_SPEED);
m_storage.runStorage(StorageConstants.STORAGE_SPEED);
intook = true;
}
else{
m_intake.runExtender(IntakeConstants.EXTENDER_SPEED);
m_storage.runStorage(0);
}
}
@@ -55,7 +54,7 @@ public class StorageIntake extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (!m_storage.getBeam(0) && m_storage.getBeam(1) && intook){
if (!m_storage.getBeam(0) && intook){
return true;
}
return false;
src/main/java/frc4388/robot/commands/StorageIntakeFinal.java
-47
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@@ -1,47 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.subsystems.Storage;
public class StorageIntakeFinal extends CommandBase {
Storage m_storage;
/**
* Creates a new StorageIntakeFinal.
*/
public StorageIntakeFinal(Storage subsystem) {
m_storage = subsystem;
addRequirements(m_storage);
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (m_storage.getBeam(1)){
m_storage.setStoragePID(m_storage.getEncoderPos() + StorageConstants.STORAGE_FULL_BALL);
}
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}
src/main/java/frc4388/robot/commands/StorageIntakeGroup.java
-28
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@@ -1,28 +0,0 @@
/*----------------------------------------------------------------------------*/
/* Copyright (c) 2019 FIRST. All Rights Reserved. */
/* Open Source Software - may be modified and shared by FRC teams. The code */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project. */
/*----------------------------------------------------------------------------*/
package frc4388.robot.commands;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.Storage;
// NOTE: Consider using this command inline, rather than writing a subclass. For more
// information, see:
// https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html
public class StorageIntakeGroup extends SequentialCommandGroup {
/**
* Creates a new StorageIntakeGroup.
*/
public StorageIntakeGroup(Intake m_intake, Storage m_storage) {
addCommands(
new StoragePrepIntake(m_intake, m_storage),
new StorageIntake(m_intake, m_storage),
new StorageIntakeFinal(m_storage)
);
}
}
src/main/java/frc4388/robot/commands/StoragePrepAim.java
+2 -2
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@@ -29,7 +29,7 @@ public class StoragePrepAim extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (m_storage.getBeam(2) == false){
if (m_storage.getBeam(1) == false){
m_storage.runStorage(StorageConstants.STORAGE_SPEED);
}
else{
@@ -45,7 +45,7 @@ public class StoragePrepAim extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (m_storage.getBeam(2)){
if (m_storage.getBeam(1)){
return true;
}
return false;
src/main/java/frc4388/robot/commands/StoragePrepIntake.java
+4 -2
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@@ -15,6 +15,7 @@ import frc4388.robot.subsystems.Storage;
public class StoragePrepIntake extends CommandBase {
public Intake m_intake;
public Storage m_storage;
public double startTime;
/**
* Creates a new StoragePrepIntake.
@@ -29,12 +30,13 @@ public class StoragePrepIntake extends CommandBase {
// Called when the command is initially scheduled.
@Override
public void initialize() {
startTime = System.currentTimeMillis();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (m_storage.getBeam(1) == false){
if (!m_storage.getBeam(0) && System.currentTimeMillis() < startTime + 3000){ //If the bottom beam is broken, or 3 seconds have passed
m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
}
else{
@@ -50,7 +52,7 @@ public class StoragePrepIntake extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (m_storage.getBeam(1)){
if (m_storage.getBeam(0)){
return true;
}
return false;
src/main/java/frc4388/robot/commands/TrackTarget.java
+1 -1
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@@ -73,7 +73,7 @@ public class TrackTarget extends CommandBase {
} else if (turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE) {
turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;
}
m_shooterAim.runShooterWithInput(turnAmount / 3);
m_shooterAim.runShooterWithInput(turnAmount);
// Finding Distance
distance = VisionConstants.TARGET_HEIGHT / Math.tan((VisionConstants.LIME_ANGLE + yAngle) * (Math.PI / 180));