Merge pull request #26 from Team4388/add-storage

WIP Add Storage

src/main/java/frc4388/robot/Constants.java

@@ -123,8 +123,9 @@ public final class Constants {
         public static final int PID_PRIMARY = 0;
 
         /* PID Gains */
-        public static final double storkminOutput = -1.0;
-        public static final Gains STORAGE_GAINS = new Gains(0.1, 0, 1, 0, 0, 1);
+
+        public static final double STORAGE_MIN_OUTPUT = -1.0;
+        public static final Gains STORAGE_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
     }
   
     public static final class LEDConstants {

src/main/java/frc4388/robot/RobotContainer.java

@@ -39,6 +39,7 @@ import frc4388.robot.commands.RunClimberWithTriggers;
 import frc4388.robot.commands.RunExtenderOutIn;
 import frc4388.robot.commands.RunIntakeWithTriggers;
 import frc4388.robot.commands.ShooterVelocityControlPID;
+import frc4388.robot.commands.StorageIntakeGroup;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
@@ -49,6 +50,7 @@ import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
 import frc4388.robot.commands.TrackTarget;
+import frc4388.robot.commands.storageOutake;
 import frc4388.robot.subsystems.Camera;
 import frc4388.robot.subsystems.Leveler;
 import frc4388.robot.subsystems.Storage;
@@ -99,10 +101,10 @@ public class RobotContainer {
         // runs the drum shooter in idle mode
         m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
         // drives the leveler with an axis input from the driver controller
-    //    m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
-        // runs storage motor at 50 percent
-    //    m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
+        m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
+
     }
+      
 
     /**
     * Use this method to define your button->command mappings.  Buttons can be created by
@@ -147,6 +149,17 @@ public class RobotContainer {
             .whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
             .whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
 
+        /* Storage Neo PID Test */
+        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+            .whileHeld(new TrackTarget(m_robotShooter));
+
+        //Prepares storage for intaking
+        new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
+            .whileHeld(new StorageIntakeGroup(m_robotIntake, m_robotStorage));
+            
+        //Runs storage to outtake
+        new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
+            .whileHeld(new storageOutake(m_robotStorage));
     }
        
     /**

src/main/java/frc4388/robot/commands/RunExtenderOutIn.java

@@ -7,14 +7,25 @@
 
 package frc4388.robot.commands;
 
+import com.revrobotics.CANDigitalInput;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.Constants.IntakeConstants;
 import frc4388.robot.subsystems.Intake;
 import frc4388.utility.controller.IHandController;
 
 public class RunExtenderOutIn extends CommandBase {
   private Intake m_intake;
-  private boolean isOut = false;
-  private long startTime;
+
+  CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
+  CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
+  CANDigitalInput m_extenderForwardLimit;
+  CANDigitalInput m_extenderReverseLimit;
+
+  
 
   /**
    * Uses input from opperator to run the extender motor.
@@ -25,19 +36,23 @@ public class RunExtenderOutIn extends CommandBase {
     // Use addRequirements() here to declare subsystem dependencies.
     m_intake = subsystem;
     addRequirements(m_intake);
+
+    m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_extenderForwardLimit.enableLimitSwitch(false);
+    m_extenderReverseLimit.enableLimitSwitch(false);
   }
 
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
-    isOut = !isOut;
-    startTime = System.currentTimeMillis();
+    m_intake.isExtended = !m_intake.isExtended;
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (isOut){
+    if (m_intake.isExtended){
       m_intake.runExtender(0.3);
     } else {
       m_intake.runExtender(-0.3);
@@ -54,9 +69,16 @@ public class RunExtenderOutIn extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (startTime + 3000 < System.currentTimeMillis()) {
+    if (m_intake.isExtended && m_extenderForwardLimit.get() == true){
       return true;
     }
-    return false;
+    
+    else if(m_intake.isExtended && m_extenderReverseLimit.get() == true){
+      return true;
+    }
+    
+    else{
+      return false;
+    }
   }
 }

src/main/java/frc4388/robot/commands/StorageIntakeFinal.java

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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.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() + 5);
+    }
+  }
+
+  // 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

@@ -0,0 +1,27 @@
+/*----------------------------------------------------------------------------*/
+/* 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/storageIntake.java

@@ -0,0 +1,58 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems.Intake;
+import frc4388.robot.subsystems.Storage;
+
+public class storageIntake extends CommandBase {
+  public Intake m_intake;
+  public Storage m_storage;
+  /**
+   * Creates a new storageIntake.
+   */
+  public storageIntake(Intake inSub, Storage storeSub) {
+    m_intake = inSub;
+    m_storage = storeSub;
+    addRequirements(m_intake);
+    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(0)){
+      m_storage.setStoragePID(m_storage.getEncoderPos() + 2);
+      m_intake.runExtender(-0.3); 
+    }
+    else{
+      m_intake.runExtender(0.3); 
+    }
+  }
+
+  // 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() {
+    if (m_storage.getBeam(0)){
+      return true;
+    }
+    return false;
+  }
+}

src/main/java/frc4388/robot/commands/storageOutake.java

@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems.Storage;
+
+public class storageOutake extends CommandBase {
+  Storage m_storage;
+  /**
+   * Creates a new storageOutake.
+   */
+  public storageOutake(Storage storeSub) {
+    m_storage = storeSub;
+    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() {
+      m_storage.runStorage(-0.5);
+  }
+
+  // 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/storagePrepAim.java

@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems.Storage;
+
+public class storagePrepAim extends CommandBase {
+  Storage m_storage;
+  /**
+   * Creates a new storagePrepAim.
+   */
+  public storagePrepAim(Storage storeSub) {
+    m_storage = storeSub;
+    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(2) == false){
+      m_storage.runStorage(0.5);
+    }
+    else{
+      m_storage.runStorage(0);
+    }
+  }
+
+  // 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() {
+    if (m_storage.getBeam(2)){
+      return true;
+    }
+    return false;
+  }
+}

src/main/java/frc4388/robot/commands/storagePrepIntake.java

@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems.Intake;
+import frc4388.robot.subsystems.Storage;
+
+public class storagePrepIntake extends CommandBase {
+  public Intake m_intake;
+  public Storage m_storage;
+  /**
+   * Creates a new storagePrepIntake.
+   */
+  public storagePrepIntake(Intake inSub, Storage storeSub) {
+    m_intake = inSub;
+    m_storage = storeSub;
+    addRequirements(m_intake);
+    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) == false){
+      m_storage.runStorage(-0.5);
+    }
+    else{
+      m_storage.runStorage(0);
+    }
+  }
+
+  // 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() {
+    if (m_storage.getBeam(1)){
+      return true;
+    }
+    return false;
+  }
+}

src/main/java/frc4388/robot/subsystems/Drive.java

@@ -526,6 +526,7 @@ public class Drive extends SubsystemBase {
    * Returns the current yaw of the pigeon
    */
   public double getGyroYaw() {
+
     double[] ypr = new double[3];
 
     m_pigeon.getYawPitchRoll(ypr);

src/main/java/frc4388/robot/subsystems/Intake.java

@@ -17,16 +17,21 @@ import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.IntakeConstants;
 
+
+
 public class Intake extends SubsystemBase {
   CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
   CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
   CANDigitalInput m_extenderForwardLimit;
   CANDigitalInput m_extenderReverseLimit;
+  public boolean isExtended = false;
 
   /**
    * Creates a new Intake.
    */
   public Intake() {
+    
+
     m_intakeMotor.restoreFactoryDefaults();
     m_extenderMotor.restoreFactoryDefaults();
 
@@ -59,6 +64,18 @@ public class Intake extends SubsystemBase {
    * @param input the percent output to run motor at
    */
   public void runExtender(double input) {
-    m_extenderMotor.set(input);
+    if (m_extenderForwardLimit.get()) {
+      isExtended = true;
+    }
+    if (m_extenderReverseLimit.get()) {
+      isExtended = false;
+    }
+    
+    if (isExtended == false) {
+      m_extenderMotor.set(input);
+    }
+    if (isExtended == true) {
+      m_extenderMotor.set(-input);
+    }
   }
-}
+}

src/main/java/frc4388/robot/subsystems/Storage.java

@@ -9,14 +9,17 @@ package frc4388.robot.subsystems;
 
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANDigitalInput;
 import com.revrobotics.CANEncoder;
 import com.revrobotics.CANPIDController;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.ControlType;
 import com.revrobotics.SparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Encoder;
+import edu.wpi.first.wpilibj.command.WaitUntilCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Gains;
 import frc4388.robot.Constants.StorageConstants;
@@ -29,14 +32,16 @@ public class Storage extends SubsystemBase {
 
   CANEncoder m_encoder = m_storageMotor.getEncoder();
 
-  public static Gains m_storageGains = StorageConstants.STORAGE_GAINS;
+  Gains storageGains = StorageConstants.STORAGE_GAINS;
+
+  Intake m_intake;
+
 
   /**
    * Creates a new Storage.
    */
   public Storage() {
     resetEncoder();
-
     m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_0);
     m_beamSensors[1] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1);
     m_beamSensors[2] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2);
@@ -55,32 +60,38 @@ public class Storage extends SubsystemBase {
    * 
    * @param input the voltage to run motor at
    */
-  public void runStorage(final double input) {
+  
+  public void runStorage(double input) {
     m_storageMotor.set(input);
-    final boolean beam_on = m_beamSensors[0].get();
   }
 
-  public void resetEncoder()
-  {
+  public void resetEncoder(){
     m_encoder.setPosition(0);
   }
 
   /* Storage PID Control */
-  public void runStoragePositionPID(double targetPos)
-  {
+  public void runStoragePositionPID(double targetPos){
     // Set PID Coefficients
-    m_storagePIDController.setP(m_storageGains.m_kP);
-    m_storagePIDController.setI(m_storageGains.m_kI);
-    m_storagePIDController.setD(m_storageGains.m_kD);
-    m_storagePIDController.setIZone(m_storageGains.m_kIzone);
-    m_storagePIDController.setFF(m_storageGains.m_kF);
-    m_storagePIDController.setOutputRange(StorageConstants.storkminOutput, m_storageGains.m_kmaxOutput);
+    m_storagePIDController.setP(storageGains.m_kP);
+    m_storagePIDController.setI(storageGains.m_kI);
+    m_storagePIDController.setD(storageGains.m_kD);
+    m_storagePIDController.setIZone(storageGains.m_kIzone);
+    m_storagePIDController.setFF(storageGains.m_kF);
+    m_storagePIDController.setOutputRange(StorageConstants.STORAGE_MIN_OUTPUT, storageGains.m_kmaxOutput);
 
     m_storagePIDController.setReference(targetPos, ControlType.kPosition);
   }
 
-  public double getEncoderPos()
-  {
+
+  public double getEncoderPos(){
     return m_encoder.getPosition();
   }
+
+  public boolean getBeam(int id){
+    return m_beamSensors[id].get();
+  }
+
+  public void setStoragePID(double position){
+    m_storagePIDController.setReference(position , ControlType.kPosition);
+  }
 }