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Remove Old Unusable Commands Pt 2

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ryan123rudder
2020-03-09 20:07:45 -06:00
parent 9e59e34314
commit 725b2c0079
6 changed files with 0 additions and 246 deletions
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src/main/java/frc4388/robot/commands/shooter/PrepChecker.java
-75
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@@ -1,75 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
import frc4388.robot.subsystems.Storage;
public class PrepChecker extends CommandBase {
Shooter m_shooter;
ShooterAim m_shooterAim;
ShooterHood m_shooterHood;
Storage m_storage;
boolean m_isDrumReady = false;
boolean m_isAimReady = false;
boolean m_isHoodReady = false;
boolean m_isStorageReady = false;
/**
* Creates a new PrepChecker.
* @param shooter used to read all shooter subsystems. Not used as a requirement so don't expect it to interrupt other commands.
* @param storage reads storage in a similar way to shooter. Not used as a requirement.
*/
public PrepChecker(Shooter shooter, Storage storage) {
m_shooter = shooter;
m_shooterAim = m_shooter.m_shooterAimSubsystem;
m_shooterHood = m_shooter.m_shooterHoodSubsystem;
m_storage = storage;
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_isDrumReady = false;
m_isAimReady = false;
m_isHoodReady = false;
m_isStorageReady = false;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_isDrumReady = m_shooter.m_isDrumReady; SmartDashboard.putBoolean("ShooterVelocityPID Finished", m_isDrumReady);
m_isAimReady = m_shooterAim.m_isAimReady; SmartDashboard.putBoolean("TrackTarget Finished", m_isAimReady);
m_isHoodReady = m_shooterHood.m_isHoodReady; SmartDashboard.putBoolean("HoodPosition Finished", m_isHoodReady);
m_isStorageReady = m_storage.m_isStorageReadyToFire; SmartDashboard.putBoolean("StoragePrepAim Finished", m_isStorageReady);
}
// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
m_shooter.m_isDrumReady = false;
m_shooterAim.m_isAimReady = false;
m_shooterHood.m_isHoodReady = false;
m_storage.m_isStorageReadyToFire = false;
}
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (m_isDrumReady && m_isAimReady && m_isHoodReady && m_isStorageReady) {
//return true;
}
return false;
}
}
src/main/java/frc4388/robot/commands/shooter/ShootFireGroup.java
-37
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@@ -1,37 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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.ParallelDeadlineGroup;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import frc4388.robot.commands.storage.StorageFire;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
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 ParallelDeadlineGroup {
/**
* Fires the shooter
* @param m_shooter The Shooter subsytem
* @param m_shooterAim The ShooterAim subsystem
* @param m_storage The Storage subsytem
*/
public ShootFireGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) {
super(
new StorageFire(m_storage),
new TrackTarget(m_shooterAim),
new ShooterVelocityControlPID(m_shooter),
new HoodPositionPID(m_shooterHood)
);
}
}
src/main/java/frc4388/robot/commands/shooter/ShootFullGroup.java
-32
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@@ -1,32 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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.SequentialCommandGroup;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
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 ShootFullGroup extends SequentialCommandGroup {
/**
* Preps and Fires the Shooter
* @param m_shooter The Shooter subsytem
* @param m_shooterAim The ShooterAim subsystem
* @param m_storage The Storage subsytem
*/
public ShootFullGroup(Shooter m_shooter, ShooterAim m_shooterAim, ShooterHood m_shooterHood, Storage m_storage) {
addCommands(
new ShootPrepGroup(m_shooter, m_shooterAim, m_shooterHood, m_storage),
new ShootFireGroup(m_shooter, m_shooterAim, m_shooterHood, m_storage)
);
}
}
src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java
-2
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@@ -26,8 +26,6 @@ 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)
src/main/java/frc4388/robot/commands/storage/StorageFire.java
-48
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@@ -1,48 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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.storage;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.subsystems.Storage;
public class StorageFire extends CommandBase {
Storage m_storage;
/**
* Runs the Storage until shoot beam is empty, then ends
* @param storageSub The Storage subsytem
*/
public StorageFire(Storage storageSub) {
m_storage = storageSub;
}
// 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(StorageConstants.STORAGE_SPEED);
}
// 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.getBeamShooter()) {
return true;
}
return false;
}
}
src/main/java/frc4388/robot/commands/storage/StorageFirePID.java
-52
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@@ -1,52 +0,0 @@
/*----------------------------------------------------------------------------*/
/* 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.storage;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.Constants.StorageConstants;
import frc4388.robot.subsystems.Storage;
public class StorageFirePID extends CommandBase {
Storage m_storage;
double m_intakeStartPos;
/**
* Runs the Storage until shoot beam is empty, then ends
* @param storageSub The Storage subsytem
*/
public StorageFirePID(Storage storageSub) {
m_storage = storageSub;
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
m_intakeStartPos = m_storage.getEncoderPosInches();
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_storage.runStoragePositionPID(m_intakeStartPos + StorageConstants.STORAGE_FULL_BALL);
}
// 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() {
double error = (m_intakeStartPos + StorageConstants.STORAGE_FULL_BALL) - m_storage.getEncoderPosInches();
if (m_storage.getEncoderVel() == 0 && Math.abs(error) < 0.5) {
return true;
}
return false;
}
}