Created and Added Solenoid Functionality for Pneumatics Subsystem

2026-06-09 00:38:00 -06:00 · 2020-02-26 17:26:49 -07:00
parent 5bcf6c0390
commit 2e3fea423e
4 changed files with 123 additions and 51 deletions
@@ -0,0 +1,89 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.RobotContainer;
+import frc4388.robot.Constants.PneumaticsConstants;
+
+public class Pneumatics extends SubsystemBase {
+  /* Create Solenoids */
+  public DoubleSolenoid m_speedShift = new DoubleSolenoid(  PneumaticsConstants.PCM_MODULE_ID, 
+                                                            PneumaticsConstants.SPEED_SHIFT_FORWARD_ID,
+                                                            PneumaticsConstants.SPEED_SHIFT_REVERSE_ID );
+
+  public DoubleSolenoid m_coolFalcon = new DoubleSolenoid(  PneumaticsConstants.PCM_MODULE_ID, 
+                                                            PneumaticsConstants.COOL_FALCON_FORWARD_ID, 
+                                                            PneumaticsConstants.COOL_FALCON_REVERSE_ID );
+
+  /* Get Drive Subsystem */
+  Drive m_driveSubsystem;
+
+  public boolean m_isSpeedShiftHigh;
+
+  /**
+   * Creates a new Pneumatics.
+   */
+  public Pneumatics() {
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+    runFalconCooling();
+  }
+  
+  /**
+   * Passes subsystem needed.
+   * @param subsystem Subsystem needed.
+   */
+  public void passRequiredSubsystem(Drive subsystem) {
+    m_driveSubsystem = subsystem;
+  }
+
+  /**
+   * Set to high or low gear based on boolean state, true = high, false = low
+   * @param state Chooses between high or low gear
+   */
+  public void setShiftState(boolean state) {
+    if (state == true) {
+			m_speedShift.set(DoubleSolenoid.Value.kReverse);
+    }
+		if (state == false) {
+			m_speedShift.set(DoubleSolenoid.Value.kForward);
+    }
+    m_driveSubsystem.setRightMotorGains(state);
+    m_isSpeedShiftHigh = state;
+  }
+
+  /**
+   * Set to open or close solenoid that cools the falcon, true = open, false = close
+   * @param state Chooses between open and close
+   */
+  public void coolFalcon(boolean state) {
+    if (state == true) {
+      m_coolFalcon.set(DoubleSolenoid.Value.kForward);
+    }
+    if (state == false) {
+      m_coolFalcon.set(DoubleSolenoid.Value.kReverse);
+    }
+  }
+
+  /**
+   * Runs coolFalcon every 30 seconds for 1 second.
+   */
+  public void runFalconCooling() {
+    if (m_driveSubsystem.m_currentTimeSec % 30 == 0) {
+      coolFalcon(true);
+    } else if ((m_driveSubsystem.m_currentTimeSec - 1) % 30 == 0) {
+      coolFalcon(false);
+    }
+  }
+}