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Fixed Enums for Manual

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This commit is contained in:
ryan123rudder
2020-03-10 20:14:28 -06:00
parent 69657ace52
commit 713ab60c42
6 changed files with 116 additions and 34 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -4
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@@ -44,7 +44,6 @@ import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.commands.shooter.TrimShooter;
import frc4388.robot.commands.storage.ManageStorage;
import frc4388.robot.commands.storage.StoragePrep;
import frc4388.robot.commands.storage.ManageStorage.StorageMode;
import frc4388.robot.subsystems.Camera;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.subsystems.Drive;
@@ -57,6 +56,7 @@ import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
import frc4388.robot.subsystems.Storage;
import frc4388.robot.subsystems.Storage.StorageMode;
import frc4388.utility.controller.ButtonFox;
import frc4388.utility.controller.IHandController;
import frc4388.utility.controller.XboxController;
@@ -129,7 +129,7 @@ public class RobotContainer {
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// runs the storage not
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
m_robotStorage.setDefaultCommand(new ManageStorage(m_robotStorage, StorageMode.IDLE));
m_robotStorage.setDefaultCommand(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.IDLE)));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
@@ -247,8 +247,8 @@ public class RobotContainer {
/* Button Fox */
// Storage Manual
new JoystickButton(getButtonFox(), ButtonFox.LEFT_SWITCH)
.whileHeld(new ManageStorage(m_robotStorage, StorageMode.MANUAL))
.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
.whenPressed(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.MANUAL)))
.whenReleased(new InstantCommand(() -> m_robotStorage.changeStorageMode(StorageMode.RESET)));
// Meg
new JoystickButton(getButtonFox(), ButtonFox.MIDDLE_SWITCH)
src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
+40
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@@ -0,0 +1,40 @@
/*----------------------------------------------------------------------------*/
/* 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.shooter;
import edu.wpi.first.wpilibj2.command.CommandBase;
public class ShooterGoalPosition extends CommandBase {
/**
* Creates a new ShooterGoalPosition.
*/
public ShooterGoalPosition() {
// Use addRequirements() here to declare subsystem dependencies.
}
// 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() {
}
// 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/shooter/ShooterTrenchPosition.java
+40
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@@ -0,0 +1,40 @@
/*----------------------------------------------------------------------------*/
/* 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.shooter;
import edu.wpi.first.wpilibj2.command.CommandBase;
public class ShooterTrenchPosition extends CommandBase {
/**
* Creates a new ShooterTrenchPosition.
*/
public ShooterTrenchPosition() {
// Use addRequirements() here to declare subsystem dependencies.
}
// 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() {
}
// 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/storage/ManageStorage.java
+13 -16
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@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.subsystems.Storage;
import frc4388.robot.subsystems.Storage.StorageMode;
public class ManageStorage extends CommandBase {
Storage m_storage;
@@ -26,17 +27,13 @@ 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;
public enum StorageMode{IDLE, INTAKE, RESET, MANUAL};
StorageMode m_storageMode = StorageMode.IDLE;
/**
* Creates a new ManageStorage.
*/
public ManageStorage(Storage m_robotStorage, StorageMode storageMode) {
public ManageStorage(Storage m_robotStorage) {
// Use addRequirements() here to declare subsystem dependencies.
m_storage = m_robotStorage;
m_storageMode = storageMode;
addRequirements(m_storage);
}
@@ -50,7 +47,7 @@ public class ManageStorage extends CommandBase {
m_isStorageEmpty = !m_isBallInStorage;
if (m_storageMode == StorageMode.RESET) {
if (m_storage.m_storageMode == StorageMode.RESET) {
m_resetStartTime = System.currentTimeMillis();
}
}
@@ -68,13 +65,13 @@ public class ManageStorage extends CommandBase {
SmartDashboard.putBoolean("!Ball Storage!", m_isBallInStorage);
SmartDashboard.putBoolean("!Ball Shooter!", m_isBallInShooter);
if (m_storageMode == StorageMode.IDLE) {
if (m_storage.m_storageMode == StorageMode.IDLE) {
runIdle();
} else if (m_storageMode == StorageMode.INTAKE) {
} else if (m_storage.m_storageMode == StorageMode.INTAKE) {
runIntake();
} else if (m_storageMode == StorageMode.RESET) {
} else if (m_storage.m_storageMode == StorageMode.RESET) {
runReset();
} else if (m_storageMode == StorageMode.MANUAL) {
} else if (m_storage.m_storageMode == StorageMode.MANUAL) {
runManual();
}
}
@@ -93,10 +90,10 @@ public class ManageStorage extends CommandBase {
}
if (m_isStorageEmpty && m_isBallInStorage) { // If Ball moves into storage, set storage to full and swtich to idle mode
m_isStorageEmpty = false;
m_storageMode = StorageMode.IDLE;
m_storage.changeStorageMode(StorageMode.IDLE);
}
} else {
m_storageMode = StorageMode.IDLE;
m_storage.changeStorageMode(StorageMode.IDLE);
}
}
@@ -108,7 +105,7 @@ public class ManageStorage extends CommandBase {
m_storage.runStorage(0);
if (m_isBallInIntake) {
m_storageMode = StorageMode.INTAKE;
m_storage.changeStorageMode(StorageMode.INTAKE);
}
m_isStorageEmpty = !m_isBallInStorage;
}
@@ -122,9 +119,9 @@ public class ManageStorage extends CommandBase {
m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
if (m_isBallInIntake) {
m_storageMode = StorageMode.INTAKE;
m_storage.changeStorageMode(StorageMode.INTAKE);
} else if (m_resetStartTime + StorageConstants.STORAGE_TIMEOUT < System.currentTimeMillis()) {
m_storageMode = StorageMode.IDLE;
m_storage.changeStorageMode(StorageMode.IDLE);
}
m_isStorageEmpty = !m_isBallInStorage;
}
@@ -139,7 +136,7 @@ public class ManageStorage extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
m_storageMode = StorageMode.RESET;
m_storage.changeStorageMode(StorageMode.RESET);
}
// Returns true when the command should end.
src/main/java/frc4388/robot/commands/storage/ManageStoragePID.java
+12 -14
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@@ -11,6 +11,7 @@ import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.subsystems.Storage;
import frc4388.robot.subsystems.Storage.StorageMode;
public class ManageStoragePID extends CommandBase {
Storage m_storage;
@@ -30,16 +31,13 @@ public class ManageStoragePID extends CommandBase {
/* Used for intaking a ball. Keeps track off when the 2nd ball in storage has moved */
boolean m_isStorageEmpty = true;
public enum StorageMode{IDLE, INTAKE, RESET};
StorageMode m_storageMode = StorageMode.IDLE;
/**
* Creates a new ManageStorage.
*/
public ManageStoragePID(Storage m_robotStorage, StorageMode storageMode) {
public ManageStoragePID(Storage m_robotStorage) {
// Use addRequirements() here to declare subsystem dependencies.
m_storage = m_robotStorage;
m_storageMode = storageMode;
addRequirements(m_storage);
}
@@ -55,7 +53,7 @@ public class ManageStoragePID extends CommandBase {
m_intakeStartPos = m_storage.getEncoderPosInches();
if (m_storageMode == StorageMode.RESET) {
if (m_storage.m_storageMode == StorageMode.RESET) {
m_resetStartTime = System.currentTimeMillis();
}
}
@@ -73,11 +71,11 @@ public class ManageStoragePID extends CommandBase {
SmartDashboard.putBoolean("!Ball Storage!", m_isBallInStorage);
SmartDashboard.putBoolean("!Ball Shooter!", m_isBallInShooter);
if (m_storageMode == StorageMode.IDLE) {
if (m_storage.m_storageMode == StorageMode.IDLE) {
runIdle();
} else if (m_storageMode == StorageMode.INTAKE) {
} else if (m_storage.m_storageMode == StorageMode.INTAKE) {
runIntake();
} else if (m_storageMode == StorageMode.RESET) {
} else if (m_storage.m_storageMode == StorageMode.RESET) {
runReset();
}
}
@@ -93,10 +91,10 @@ public class ManageStoragePID extends CommandBase {
double error = (m_intakeStartPos + StorageConstants.STORAGE_FULL_BALL) - m_storage.getEncoderPosInches();
if (m_storage.getEncoderVel() == 0 && Math.abs(error) < 0.5) {
m_storageMode = StorageMode.IDLE;
m_storage.changeStorageMode(StorageMode.IDLE);
}
} else {
m_storageMode = StorageMode.IDLE;
m_storage.changeStorageMode(StorageMode.IDLE);
}
}
@@ -108,7 +106,7 @@ public class ManageStoragePID extends CommandBase {
m_storage.runStorage(0);
if (m_isBallInIntake) {
m_storageMode = StorageMode.INTAKE;
m_storage.changeStorageMode(StorageMode.INTAKE);
m_intakeStartPos = m_storage.getEncoderPosInches();
}
m_isStorageEmpty = !m_isBallInStorage;
@@ -123,10 +121,10 @@ public class ManageStoragePID extends CommandBase {
m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
if (m_isBallInIntake) {
m_storageMode = StorageMode.INTAKE;
m_storage.changeStorageMode(StorageMode.INTAKE);
m_intakeStartPos = m_storage.getEncoderPosInches();
} else if (m_resetStartTime + StorageConstants.STORAGE_TIMEOUT < System.currentTimeMillis()) {
m_storageMode = StorageMode.IDLE;
m_storage.changeStorageMode(StorageMode.IDLE);
}
m_isStorageEmpty = !m_isBallInStorage;
}
@@ -134,7 +132,7 @@ public class ManageStoragePID extends CommandBase {
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
m_storageMode = StorageMode.RESET;
m_storage.changeStorageMode(StorageMode.RESET);
}
// Returns true when the command should end.
src/main/java/frc4388/robot/subsystems/Storage.java
+7
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@@ -36,6 +36,9 @@ public class Storage extends SubsystemBase {
public boolean m_isStorageReadyToFire = false;
public enum StorageMode{IDLE, INTAKE, RESET, MANUAL};
public StorageMode m_storageMode = StorageMode.IDLE;
/**
* Creates a new Storage.
*/
@@ -134,4 +137,8 @@ public class Storage extends SubsystemBase {
public boolean getBeamIntake(){
return m_beamIntake.get();
}
public void changeStorageMode(StorageMode storageMode){
m_storageMode = storageMode;
}
}