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Merge branch 'master' into add-elijahs-mystery-feature

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This commit is contained in:
Elijah Price
2020-02-13 17:57:25 -07:00
committed by GitHub
parent d39914ecb3 3e248bd186
commit a8306807fe
15 changed files with 655 additions and 75 deletions
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src/main/java/frc4388/robot/subsystems/Storage.java
+39 -3
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@@ -9,11 +9,15 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.ControlType;
import com.revrobotics.SparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.StorageConstants;
@@ -21,10 +25,17 @@ import frc4388.robot.Constants.StorageConstants;
public class Storage extends SubsystemBase {
private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
private DigitalInput[] m_beamSensors = new DigitalInput[6];
CANPIDController m_storagePIDController = m_storageMotor.getPIDController();
CANEncoder m_encoder = m_storageMotor.getEncoder();
/**
* Creates a new Storage.
*/
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);
@@ -40,17 +51,42 @@ public class Storage extends SubsystemBase {
/**
* Runs storage motor
*
* @param input the voltage to run motor at
*/
public void runStorage(double input) {
public void runStorage(final double input) {
m_storageMotor.set(input);
boolean beam_on = m_beamSensors[0].get();
final boolean beam_on = m_beamSensors[0].get();
if (beam_on) {
//System.err.println("Beam on");
} else {
//System.err.println("Beam off");
}
}
public void resetEncoder()
{
m_encoder.setPosition(0);
}
/* Storage PID Control */
public void runStoragePositionPID(double targetPos, double kP, double kI, double kD, double kIz, double kF, double kmaxOutput, double kminOutput)
{
// Set PID Coefficients
m_storagePIDController.setP(kP);
m_storagePIDController.setI(kI);
m_storagePIDController.setD(kD);
m_storagePIDController.setIZone(kIz);
m_storagePIDController.setFF(kF);
m_storagePIDController.setOutputRange(kminOutput, kmaxOutput);
m_storagePIDController.setReference(targetPos, ControlType.kPosition);
}
public void getEncoderPos()
{
m_encoder.getPosition();
}
}