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Created and Added Solenoid Functionality for Pneumatics Subsystem

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This commit is contained in:
Aarav Shah
2020-02-26 17:26:49 -07:00
parent 5bcf6c0390
commit 2e3fea423e
4 changed files with 123 additions and 51 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+9 -3
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@@ -42,6 +42,7 @@ import frc4388.robot.commands.TrackTarget;
import frc4388.robot.commands.storageOutake;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Leveler;
import frc4388.robot.subsystems.Pneumatics;
import frc4388.robot.subsystems.Storage;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -56,6 +57,7 @@ import frc4388.utility.controller.XboxController;
public class RobotContainer {
/* Subsystems */
private final Drive m_robotDrive = new Drive();
private final Pneumatics m_robotPneumatics = new Pneumatics();
private final LED m_robotLED = new LED();
private final Intake m_robotIntake = new Intake();
private final Shooter m_robotShooter = new Shooter();
@@ -75,6 +77,10 @@ public class RobotContainer {
* The container for the robot. Contains subsystems, OI devices, and commands.
*/
public RobotContainer() {
/* Passing Drive and Pneumatics Subsystems */
m_robotPneumatics.passRequiredSubsystem(m_robotDrive);
m_robotDrive.passRequiredSubsystem(m_robotPneumatics);
configureButtonBindings();
/* Default Commands */
@@ -120,11 +126,11 @@ public class RobotContainer {
/* Driver Buttons */
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(false), m_robotDrive));
// sets solenoids into low gear
new JoystickButton(getDriverJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
.whenPressed(new InstantCommand(() -> m_robotPneumatics.setShiftState(true), m_robotDrive));
/* Operator Buttons */
//TODO: Shooter Buttons
@@ -231,7 +237,7 @@ public class RobotContainer {
* @param state the gearing of the gearbox (true is high, false is low)
*/
public void setDriveGearState(boolean state) {
m_robotDrive.setShiftState(state);
m_robotPneumatics.setShiftState(state);
}
/**