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Fixes of intake and beams (untested)

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This commit is contained in:
ryan123rudder
2020-03-02 18:04:08 -07:00
parent c7e50a3620
commit 923c04bf34
9 changed files with 95 additions and 44 deletions
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src/main/java/frc4388/robot/Constants.java
+4 -6
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@@ -159,12 +159,10 @@ public final class Constants {
public static final double STORAGE_TIMEOUT = 2000;
/* Ball Indexes */
public static final int BEAM_SENSOR_DIO_0 = 0;
public static final int BEAM_SENSOR_DIO_1 = 1;
public static final int BEAM_SENSOR_DIO_2 = 2;
public static final int BEAM_SENSOR_DIO_3 = 3;
public static final int BEAM_SENSOR_DIO_4 = 4;
public static final int BEAM_SENSOR_DIO_5 = 5;
public static final int BEAM_SENSOR_SHOOTER = 1;
public static final int BEAM_SENSOR_USELESS = 2;
public static final int BEAM_SENSOR_STORAGE = 3;
public static final int BEAM_SENSOR_INTAKE = 4;
/* PID Values */
public static final int SLOT_DISTANCE = 0;
src/main/java/frc4388/robot/RobotContainer.java
+21 -13
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@@ -136,7 +136,8 @@ public class RobotContainer {
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
//m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
// runs the storage not
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0), m_robotStorage));
//m_robotLime.setDefaultCommand(new RunCommand(() -> m_robotLime.limeOff(), m_robotLime));
}
@@ -188,8 +189,8 @@ public class RobotContainer {
// extends or retracts the extender
new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
.whenPressed(new RunExtenderOutIn(m_robotIntake));
//.whenPressed(new RunExtenderOutIn(m_robotIntake));
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(0.3)));
// safety for climber and leveler
new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
@@ -197,27 +198,34 @@ public class RobotContainer {
// starts tracking target
new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
//.whileHeld(new ShootPrepGroup(m_robotShooter, m_robotShooterAim, m_robotStorage))
//.whenReleased(new StoragePrepIntake(m_robotIntake, m_robotStorage));
.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.3)));
//Prepares storage for intaking
new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
.whileHeld(new StorageIntake(m_robotIntake, m_robotStorage));
//new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
// .whileHeld(new StorageIntake(m_robotIntake, m_robotStorage));
//Runs storage to outtake
new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
.whileHeld(new StorageOutake(m_robotStorage));
//new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
// .whileHeld(new StorageOutake(m_robotStorage));
//TEST FOR HOOD
new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0.3)))
.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
//.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0.3)))
//.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
.whileHeld(new RunCommand(() -> m_robotIntake.runIntakeOut(0.1)))
.whenReleased(new RunCommand(() -> m_robotIntake.runIntakeOut(0.0)));
//.whileHeld(new RunCommand(() -> m_robotStorage.runStorage(-0.3)));
//TEST FOR HOOD
new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(-0.3)))
.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
//.whileHeld(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(-0.3)))
//.whenReleased(new RunCommand(() -> m_robotShooter.m_angleAdjustMotor.set(0)));
.whileHeld(new RunCommand(() -> m_robotIntake.runIntakeIn(0.1)))
.whenReleased(new RunCommand(() -> m_robotIntake.runIntakeIn(0.0)));
//Trims shooter
new JoystickButton(getOperatorJoystick(), XboxController.TOP_BOTTOM_DPAD_AXIS)
src/main/java/frc4388/robot/commands/RunExtenderOutIn.java
+3 -3
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@@ -38,9 +38,9 @@ public class RunExtenderOutIn extends CommandBase {
addRequirements(m_intake);
m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_extenderForwardLimit.enableLimitSwitch(false);
m_extenderReverseLimit.enableLimitSwitch(false);
m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_extenderForwardLimit.enableLimitSwitch(true);
m_extenderReverseLimit.enableLimitSwitch(true);
}
// Called when the command is initially scheduled.
src/main/java/frc4388/robot/commands/RunIntakeWithTriggers.java
+4 -8
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@@ -41,16 +41,12 @@ public class RunIntakeWithTriggers extends CommandBase {
double rightTrigger = m_controller.getRightTriggerAxis();
double leftTrigger = m_controller.getLeftTriggerAxis();
double output = 0;
if (leftTrigger < .5) {
if(leftTrigger > rightTrigger) {
output = leftTrigger;
}
if (rightTrigger > leftTrigger) {
output = -leftTrigger;
}
} else {
if(leftTrigger >= rightTrigger) {
output = leftTrigger;
}
if (rightTrigger > leftTrigger) {
output = -rightTrigger;
}
m_intake.runIntake(output);
}
src/main/java/frc4388/robot/commands/StorageIntake.java
+2 -2
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@@ -39,7 +39,7 @@ public class StorageIntake extends CommandBase {
@Override
public void execute() {
if (!m_storage.getBeam(0)){
if (m_storage.getBeam(StorageConstants.BEAM_SENSOR_STORAGE) && m_storage.getBeam(StorageConstants.BEAM_SENSOR_INTAKE)){
m_storage.runStorage(StorageConstants.STORAGE_SPEED);
intook = true;
}
@@ -56,7 +56,7 @@ public class StorageIntake extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (m_storage.getBeam(0) && intook){
if (m_storage.getBeam(StorageConstants.BEAM_SENSOR_STORAGE) && intook){
return true;
}
return false;
src/main/java/frc4388/robot/commands/StorageIntakeFinal.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;
import edu.wpi.first.wpilibj2.command.CommandBase;
public class StorageIntakeFinal extends CommandBase {
/**
* Creates a new StorageIntakeFinal.
*/
public StorageIntakeFinal() {
// 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/StoragePrepIntake.java
+2 -2
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@@ -38,7 +38,7 @@ public class StoragePrepIntake extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (m_storage.getBeam(0)){
if (m_storage.getBeam(StorageConstants.BEAM_SENSOR_STORAGE)){
m_storage.runStorage(-StorageConstants.STORAGE_SPEED);
}
else{
@@ -54,7 +54,7 @@ public class StoragePrepIntake extends CommandBase {
// Returns true when the command should end.
@Override
public boolean isFinished() {
if (!m_storage.getBeam(0) || startTime + StorageConstants.STORAGE_TIMEOUT <= System.currentTimeMillis()){
if (!m_storage.getBeam(StorageConstants.BEAM_SENSOR_INTAKE) || startTime + StorageConstants.STORAGE_TIMEOUT <= System.currentTimeMillis()){
return true;
}
return false;
src/main/java/frc4388/robot/subsystems/Intake.java
+15 -4
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@@ -14,6 +14,7 @@ import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.Spark;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.IntakeConstants;
@@ -38,10 +39,10 @@ public class Intake extends SubsystemBase {
m_intakeMotor.setIdleMode(IdleMode.kCoast);
m_extenderMotor.setIdleMode(IdleMode.kBrake);
m_intakeMotor.setInverted(false);
m_extenderMotor.setInverted(false);
m_extenderMotor.setInverted(true);
m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyOpen);
m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_extenderForwardLimit.enableLimitSwitch(true);
m_extenderReverseLimit.enableLimitSwitch(true);
}
@@ -58,7 +59,14 @@ public class Intake extends SubsystemBase {
public void runIntake(double input) {
m_intakeMotor.set(input);
}
public void runIntakeIn(double input){
m_extenderMotor.set(-input);
}
public void runIntakeOut(double input){
m_extenderMotor.set(input);
}
/**
* Runs extender motor
* @param input the percent output to run motor at
@@ -67,9 +75,12 @@ public class Intake extends SubsystemBase {
if (m_extenderForwardLimit.get()) {
isExtended = true;
}
if (m_extenderReverseLimit.get()) {
else if (m_extenderReverseLimit.get()) {
isExtended = false;
}
else{
m_extenderMotor.set(-input);
}
if (isExtended == false) {
m_extenderMotor.set(input);
src/main/java/frc4388/robot/subsystems/Storage.java
+4 -6
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@@ -43,12 +43,10 @@ public class Storage extends SubsystemBase {
*/
public Storage() {
resetEncoder();
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);
m_beamSensors[3] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_3);
m_beamSensors[4] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_4);
m_beamSensors[5] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_5);
m_beamSensors[1] = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);
m_beamSensors[2] = new DigitalInput(StorageConstants.BEAM_SENSOR_USELESS);
m_beamSensors[3] = new DigitalInput(StorageConstants.BEAM_SENSOR_STORAGE);
m_beamSensors[4] = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE);
}
@Override