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Add Basic Storage Code

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This commit is contained in:
RishabhCowlagi
2020-01-28 17:07:49 -08:00
parent cf95fdcc4d
commit 29593564c2
3 changed files with 127 additions and 1 deletions
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src/main/java/frc4388/robot/Constants.java
+9 -1
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@@ -29,7 +29,15 @@ public final class Constants {
public static final class IntakeConstants {
public static final int INTAKE_SPARK_ID = 1;
}
public static final class StorageConstants {
public static final int STORAGE_TALON_ID = 9;
public static final int BEAM_SENSOR_DIO_0 = 0;
public static final int BEAM_SENSOR_DIO_1 = 1;
public static final int BEAM_SENSOR_DIO_2 = 2;
public static final int BEAM_SENSOR_DIO_3 = 3;
public static final int BEAM_SENSOR_DIO_4 = 0;
public static final int BEAM_SENSOR_DIO_5 = 0;
}
public static final class LEDConstants {
public static final int LED_SPARK_ID = 0;
src/main/java/frc4388/robot/subsystems/Storage.java
+48
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@@ -0,0 +1,48 @@
/*----------------------------------------------------------------------------*/
/* 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.subsystems;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.StorageConstants;
public class Storage extends SubsystemBase {
private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_TALON_ID, MotorType.kBrushless);
private DigitalInput[] m_beamSensors = new DigitalInput[6];
/**
* Creates a new Storage.
*/
public Storage() {
m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_0);
m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1);
m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2);
m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_3);
m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_4);
m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_5);
}
@Override
public void periodic() {
// NO
}
/**
* Runs storage motor
* @param input the voltage to run motor at
*/
public void runStorage(double input) {
m_storageMotor.set(input);
boolean beam_on = m_beamSensors[0].get();
}
}
vendordeps/REVRobotics.json
+70
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@@ -0,0 +1,70 @@
{
"fileName": "REVRobotics.json",
"name": "REVRobotics",
"version": "1.5.1",
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
"mavenUrls": [
"http://www.revrobotics.com/content/sw/max/sdk/maven/"
],
"jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
"javaDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "SparkMax-java",
"version": "1.5.1"
}
],
"jniDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "SparkMax-driver",
"version": "1.5.1",
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
"windowsx86-64",
"windowsx86",
"linuxaarch64bionic",
"linuxx86-64",
"linuxathena",
"linuxraspbian"
]
}
],
"cppDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "SparkMax-cpp",
"version": "1.5.1",
"libName": "SparkMax",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"windowsx86",
"linuxaarch64bionic",
"linuxx86-64",
"linuxathena",
"linuxraspbian"
]
},
{
"groupId": "com.revrobotics.frc",
"artifactId": "SparkMax-driver",
"version": "1.5.1",
"libName": "SparkMaxDriver",
"headerClassifier": "headers",
"sharedLibrary": false,
"skipInvalidPlatforms": true,
"binaryPlatforms": [
"windowsx86-64",
"windowsx86",
"linuxaarch64bionic",
"linuxx86-64",
"linuxathena",
"linuxraspbian"
]
}
]
}