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TODO Shooter

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This commit is contained in:
ryan123rudder
2020-02-21 16:59:05 -07:00
parent 01a0327cf3
commit 7cdeb09908
2 changed files with 4 additions and 80 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+4 -5
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@@ -30,7 +30,6 @@ import frc4388.robot.subsystems.LED;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Climber;
import frc4388.robot.commands.RunLevelerWithJoystick;
import frc4388.robot.commands.ShootShooter;
import frc4388.robot.subsystems.Drive;
import frc4388.robot.subsystems.Intake;
import frc4388.robot.subsystems.LED;
@@ -107,11 +106,11 @@ public class RobotContainer {
// .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
// .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
.whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 5));
//new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
// .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 5));
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
.whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 1));
//new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
// .whileHeld(new ShootShooter(m_robotShooter, m_robotStorage, 1));
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new TrackTarget(m_robotShooter));
src/main/java/frc4388/robot/commands/ShootShooter.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;
import edu.wpi.first.wpilibj.command.InstantCommand;
import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
import edu.wpi.first.wpilibj2.command.ParallelRaceGroup;
import edu.wpi.first.wpilibj2.command.RunCommand;
import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
import frc4388.robot.Constants.ShooterConstants;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.Storage;
public class ShootShooter extends CommandBase {
Shooter m_shooter;
Storage m_storage;
private long startTime;
private int ballNum;
public boolean velReach = false;
/**
* Creates a new ShootAlll.
*/
public ShootShooter(Shooter shootSub, Storage storeSub, int numBall) {
ballNum = numBall;
m_shooter = shootSub;
m_storage = storeSub;
}
// Called when the command is initially scheduled.
@Override
public void initialize() {
//new InstantCommand(() -> m_storage.storageAim());
velReach = false;
}
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
//Aiming
if (!m_shooter.velReached && velReach == false) //If the shooter is spooled
{
new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel());
startTime = System.currentTimeMillis();
}
else {
velReach = true;
new ParallelCommandGroup(
new ShooterVelocityControlPID(m_shooter, m_shooter.addFireVel()),
new RunCommand(() -> m_shooter.runAngleAdjustPID(m_shooter.addFireAngle())),
new RunCommand(() -> m_storage.runStoragePositionPID(m_storage.getEncoderPos() + (2*ballNum)))
);
}
}
// 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 (startTime + (1000 * ballNum) < System.currentTimeMillis()){
return true;
}
return false;
}
}