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This commit is contained in:
ryan123rudder
2020-02-21 20:41:36 -07:00
parent 427ba060da
commit 629046c032
8 changed files with 300 additions and 40 deletions
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src/main/java/frc4388/robot/commands/StorageIntakeFinal.java
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/*----------------------------------------------------------------------------*/
/* 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
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/*----------------------------------------------------------------------------*/
/* 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
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/*----------------------------------------------------------------------------*/
/* 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
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/*----------------------------------------------------------------------------*/
/* 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
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/*----------------------------------------------------------------------------*/
/* 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
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/*----------------------------------------------------------------------------*/
/* 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;
}
}