Merge branch 'master' into add-falcon-500-motion-magic

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

@@ -33,6 +33,10 @@ public final class Constants {
         
         public static final double ENCODER_TICKS_PER_REV = 2048;
     }
+    
+    public static final class IntakeConstants {
+        public static final int INTAKE_SPARK_ID = 1;
+    }
 
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 0;

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

@@ -17,7 +17,9 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveToDistanceMM;
 import frc4388.robot.commands.DriveToDistancePID;
+import frc4388.robot.commands.RunIntakeWithTriggers;
 import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
@@ -34,6 +36,7 @@ public class RobotContainer {
     /* Subsystems */
     private final Drive m_robotDrive = new Drive();
     private final LED m_robotLED = new LED();
+    private final Intake m_robotIntake = new Intake();
 
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -50,6 +53,8 @@ public class RobotContainer {
         m_robotDrive.setDefaultCommand(new RunCommand(() -> m_robotDrive.driveWithInput(
             getDriverController().getLeftYAxis(),
             getDriverController().getRightXAxis()), m_robotDrive));
+        // drives motor with input from triggers on the opperator controller
+        m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
     }

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

@@ -0,0 +1,64 @@
+/*----------------------------------------------------------------------------*/
+/* 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.utility.controller.IHandController;
+
+public class RunIntakeWithTriggers extends CommandBase {
+  private Intake m_intake;
+  private IHandController m_controller;
+
+  /**
+   * Uses input from opperator triggers to control intake motor
+   * @param subsystem the intake subsystem
+   * @param controller the operator controller
+   */
+  public RunIntakeWithTriggers(Intake subsystem, IHandController controller) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_intake = subsystem;
+    m_controller = controller;
+    addRequirements(m_intake);
+  }
+
+  // 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() {
+    double rightTrigger = m_controller.getRightTriggerAxis();
+    double leftTrigger = m_controller.getLeftTriggerAxis();
+    double output = 0;
+    if (rightTrigger < .5) {
+      if(rightTrigger > leftTrigger) {
+        output = rightTrigger;
+      }
+      if (leftTrigger > rightTrigger) {
+        output = leftTrigger;
+      }
+    } else {
+      output = rightTrigger;
+    }
+    m_intake.runIntake(output);
+  }
+
+  // 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/subsystems/Intake.java

@@ -0,0 +1,36 @@
+/*----------------------------------------------------------------------------*/
+/* 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.Spark;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.IntakeConstants;
+
+public class Intake extends SubsystemBase {
+  Spark m_intakeMotor = new Spark(IntakeConstants.INTAKE_SPARK_ID);
+  
+  /**
+   * Creates a new Intake.
+   */
+  public Intake() {
+    m_intakeMotor.setInverted(false);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  /**
+   * Runs intake motor
+   * @param input the voltage to run motor at
+   */
+  public void runIntake(double input) {
+    m_intakeMotor.set(input);
+  }
+}