Team4388/RiseOfRidgebotics2020
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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/subsystems/Storage.java
+13 -38
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@@ -19,6 +19,7 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.command.WaitUntilCommand;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Gains;
import frc4388.robot.Constants.StorageConstants;
@@ -35,12 +36,14 @@ public class Storage extends SubsystemBase {
Intake m_intake;
public boolean botReached;
/**
* Creates a new Storage.
*/
public Storage() {
resetEncoder();
boolean botReached = false;
m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_0);
m_beamSensors[1] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1);
m_beamSensors[2] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2);
@@ -65,14 +68,12 @@ public class Storage extends SubsystemBase {
final boolean beam_on = m_beamSensors[0].get();
}
public void resetEncoder()
{
public void resetEncoder(){
m_encoder.setPosition(0);
}
/* Storage PID Control */
public void runStoragePositionPID(double targetPos)
{
public void runStoragePositionPID(double targetPos){
// Set PID Coefficients
m_storagePIDController.setP(storageGains.m_kP);
m_storagePIDController.setI(storageGains.m_kI);
@@ -84,41 +85,15 @@ public class Storage extends SubsystemBase {
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
}
public void getEncoderPos()
{
m_encoder.getPosition();
public double getEncoderPos(){
return m_encoder.getPosition();
}
/**
* Prepares storage for shooting
*/
public void storageAim() {
if (m_beamSensors[2].get() == false){
m_storageMotor.set(0.5);
}
else{
m_storageMotor.set(0);
}
public boolean getBeam(int id){
return m_beamSensors[id].get();
}
public void storageIntake(Intake intake) {
m_intake = intake;
if (m_beamSensors[1].get() == false){
m_storageMotor.set(-0.5);
}
else{
m_storageMotor.set(0);
}
if (m_beamSensors[0].get()){
m_intake.runExtender(-0.3);
m_storagePIDController.setReference(10, ControlType.kPosition);
}
}
public void storageOuttake() {
m_storageMotor.set(1);
/*
*If shooting move storage motor until top sensor is tripped
*If intaking move storage motor until bottom sensor is tripped
*/
public void setStoragePID(double position){
m_storagePIDController.setReference(position , ControlType.kPosition);
}
}