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Integrate Storage Code with Firing Code

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This commit is contained in:
Keenan D. Buckley
2020-03-08 14:23:27 -06:00
parent cc232cf574
commit 5de8abf176
7 changed files with 33 additions and 21 deletions
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src/main/java/frc4388/robot/Constants.java
+1 -1
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@@ -163,7 +163,7 @@ public final class Constants {
public static final int STORAGE_CAN_ID = 11;
public static final double STORAGE_PARTIAL_BALL = 2;
public static final double STORAGE_FULL_BALL = 7;
public static final double STORAGE_SPEED = 0.5;
public static final double STORAGE_SPEED = 1.0;
public static final double STORAGE_TIMEOUT = 3000;
/* Storage Characteristics */
src/main/java/frc4388/robot/RobotContainer.java
+12 -8
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@@ -42,6 +42,8 @@ import frc4388.robot.commands.shooter.ShootFullGroup;
import frc4388.robot.commands.shooter.ShootPrepGroup;
import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.commands.shooter.TrimShooter;
import frc4388.robot.commands.storage.ManageStorage;
import frc4388.robot.commands.storage.ManageStorage.StorageMode;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Drive;
@@ -169,17 +171,19 @@ public class RobotContainer {
/* Operator Buttons */
// shoots until released
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
//.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-1), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
//.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-1), m_robotStorage))
//.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// shoots one ball
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
//.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
//.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
//.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage))
.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
//.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage))
//.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
@@ -199,7 +203,6 @@ public class RobotContainer {
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooterAim))
.whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle())))
//.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
//.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
//.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))
@@ -226,7 +229,8 @@ public class RobotContainer {
//Run drum
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new ShootFireGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false)
.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET))
.whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
}
src/main/java/frc4388/robot/commands/shooter/ShootFireGroup.java
+6 -5
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@@ -7,6 +7,7 @@
package frc4388.robot.commands.shooter;
import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc4388.robot.commands.storage.StorageFire;
@@ -18,7 +19,7 @@ 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 ShootFireGroup extends ParallelRaceGroup {
public class ShootFireGroup extends ParallelDeadlineGroup {
/**
* Fires the shooter
* @param m_shooter The Shooter subsytem
@@ -26,11 +27,11 @@ public class ShootFireGroup extends ParallelRaceGroup {
* @param m_storage The Storage subsytem
*/
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) {
addCommands(
new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel()), m_shooter),
new RunCommand(() -> m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle()), m_shooterHood),
super(
new StorageFire(m_storage),
new TrackTarget(m_shooterAim),
new StorageFire(m_storage)
new ShooterVelocityControlPID(m_shooter),
new HoodPositionPID(m_shooterHood)
);
}
}
src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java
+2 -2
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@@ -27,10 +27,10 @@ public class ShootPrepGroup extends ParallelDeadlineGroup {
public ShootPrepGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) {
super(
new PrepChecker(m_shooter, m_storage),
new StoragePrep(m_storage),
new TrackTarget(m_shooterAim),
new ShooterVelocityControlPID(m_shooter),
new HoodPositionPID(m_shooterHood),
new StoragePrep(m_storage)
new HoodPositionPID(m_shooterHood)
);
}
}
src/main/java/frc4388/robot/commands/storage/ManageStorage.java
+1 -1
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@@ -27,7 +27,7 @@ public class ManageStorage extends CommandBase {
/* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
boolean m_isStorageEmpty = true;
enum StorageMode{IDLE, INTAKE, RESET};
public enum StorageMode{IDLE, INTAKE, RESET};
StorageMode m_storageMode = StorageMode.IDLE;
/**
src/main/java/frc4388/robot/commands/storage/StorageFire.java
+4 -1
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@@ -14,7 +14,7 @@ import frc4388.robot.subsystems.Storage;
public class StorageFire extends CommandBase {
Storage m_storage;
/**
* Runs the Storage at a speed
* Runs the Storage until shoot beam is empty, then ends
* @param storageSub The Storage subsytem
*/
public StorageFire(Storage storageSub) {
@@ -40,6 +40,9 @@ public class StorageFire extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (m_storage.getBeamShooter()) {
return true;
}
return false;
}
}
src/main/java/frc4388/robot/commands/storage/StoragePrep.java
+7 -3
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@@ -32,7 +32,11 @@ public class StoragePrep extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_storage.runStorage(StorageConstants.STORAGE_SPEED);
if (!m_storage.m_isStorageReadyToFire) {
m_storage.runStorage(StorageConstants.STORAGE_SPEED);
} else {
m_storage.runStorage(0);
}
}
// Called once the command ends or is interrupted.
@@ -45,10 +49,10 @@ public class StoragePrep extends CommandBase {
public boolean isFinished() {
if (!m_storage.getBeamShooter() || (startTime + StorageConstants.STORAGE_TIMEOUT) < System.currentTimeMillis()) {
m_storage.m_isStorageReadyToFire = true;
return true;
} else {
m_storage.m_isStorageReadyToFire = false;
return false;
}
return false;
}
}