Merge branch 'master' into add-gear-shifting-with-pcm

src/main/java/frc4388/robot/subsystems/Climber.java

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems;
+
+import com.revrobotics.CANDigitalInput;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ClimberConstants;
+
+public class Climber extends SubsystemBase {
+  CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
+  CANDigitalInput m_forwardLimit, m_reverseLimit;
+  /**
+   * Creates a new Climber.
+   */
+  public Climber() {
+    m_climberMotor.restoreFactoryDefaults();
+    
+    m_forwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_reverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+
+    m_forwardLimit.enableLimitSwitch(false);
+    m_reverseLimit.enableLimitSwitch(false);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  /**
+   * Runs climber motor
+   * @param input the voltage to run motor at
+   */
+  public void runClimber(double input) {
+    m_climberMotor.set(input);
+  }
+}

src/main/java/frc4388/robot/subsystems/Intake.java

@@ -18,6 +18,7 @@ public class Intake extends SubsystemBase {
    * Creates a new Intake.
    */
   public Intake() {
+    
     m_intakeMotor.setInverted(false);
   }
 

src/main/java/frc4388/robot/subsystems/Leveler.java

@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.LevelerConstants;
+
+public class Leveler extends SubsystemBase {
+  CANSparkMax m_levelerMotor = new CANSparkMax(LevelerConstants.LEVELER_CAN_ID, MotorType.kBrushless);
+
+  /**
+   * Creates a new Leveler.
+   */
+  public Leveler() {
+    m_levelerMotor.restoreFactoryDefaults();
+    m_levelerMotor.setIdleMode(IdleMode.kCoast);
+    m_levelerMotor.setInverted(false);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  /**
+   * Runs intake motor
+   * @param input the percent output to run motor at
+   */
+  public void runLeveler(double input) {
+    m_levelerMotor.set(input);
+  }
+}

src/main/java/frc4388/robot/subsystems/Storage.java

@@ -0,0 +1,56 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+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];
+  /**
+   * Creates a new Storage.
+   */
+  public Storage() {
+    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);
+  }
+
+  @Override
+  public void periodic() {
+    // NO
+  }
+
+  /**
+   * Runs storage motor
+   * @param input the voltage to run motor at
+   */
+  public void runStorage(double input) {
+    m_storageMotor.set(input);
+    boolean beam_on = m_beamSensors[0].get();
+
+    if (beam_on) {
+      System.err.println("Beam on");
+    } else {
+      System.err.println("Beam off");
+    }
+    
+  }
+}