Debug Storage

src/main/java/frc4388/robot/Constants.java

@@ -171,10 +171,10 @@ public final class Constants {
         public static final double INCHES_PER_STORAGE_ROT = 1; //Circumference of the first storage belt
 
         /* Ball Indexes */
-        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;
+        public static final int BEAM_SENSOR_SHOOTER = 11;
+        public static final int BEAM_SENSOR_USELESS = 12;
+        public static final int BEAM_SENSOR_STORAGE = 13;
+        public static final int BEAM_SENSOR_INTAKE = 14;
 
         /* PID Gains */
         public static final Gains STORAGE_GAINS = new Gains(0.1, 0.0, 0.0, 0.0, 0, 1.0);

src/main/java/frc4388/robot/RobotContainer.java

@@ -27,6 +27,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.Constants.OIConstants;
+import frc4388.robot.commands.InterruptSubystem;
 import frc4388.robot.commands.auto.AutoPath1FromCenter;
 import frc4388.robot.commands.auto.Wait;
 import frc4388.robot.commands.climber.DisengageRachet;
@@ -43,6 +44,7 @@ import frc4388.robot.commands.shooter.ShootPrepGroup;
 import frc4388.robot.commands.shooter.TrackTarget;
 import frc4388.robot.commands.shooter.TrimShooter;
 import frc4388.robot.commands.storage.ManageStorage;
+import frc4388.robot.commands.storage.StoragePrep;
 import frc4388.robot.commands.storage.ManageStorage.StorageMode;
 import frc4388.robot.subsystems.Camera;
 import frc4388.robot.subsystems.Climber;
@@ -171,19 +173,19 @@ public class RobotContainer {
         /* Operator Buttons */
         // shoots until released
         new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
-            .whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
+            //.whileHeld(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
             //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
             //.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
-            //.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-1), m_robotStorage))
-            //.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
+            .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(-1), m_robotStorage))
+            .whenReleased(new InterruptSubystem(m_robotStorage));
 
         // shoots one ball
         new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
-            .whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
+            //.whenPressed(new ShootFullGroup(m_robotShooter, m_robotShooterAim, m_robotShooterHood, m_robotStorage), false);
             //.whenReleased(new ManageStorage(m_robotStorage, StorageMode.RESET));
             //.whenReleased(new RunCommand(() -> m_robotLime.limeOff()));
-            //.whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage))
-            //.whenReleased(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
+            .whenPressed(new RunCommand(() -> m_robotStorage.runStorage(1), m_robotStorage))
+            .whenReleased(new InterruptSubystem(m_robotStorage));
 
         // extends or retracts the extender
         new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
@@ -203,6 +205,8 @@ public class RobotContainer {
         new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
             .whileHeld(new TrackTarget(m_robotShooterAim))
             .whileHeld(new RunCommand(() -> m_robotShooterHood.runAngleAdjustPID(m_robotShooterHood.addFireAngle())))
+            //.whenPressed(new StoragePrep(m_robotStorage))
+            //.whenReleased(new InterruptSubystem(m_robotStorage))
             .whenReleased(new InstantCommand(() -> m_robotLime.limeOff()));
             //.whileHeld(new RunCommand(() -> m_robotShooter.runDrumShooterVelocityPID(13000)));
             //.whileHeld(new HoldTarget(m_robotShooter, m_robotShooterAim))

src/main/java/frc4388/robot/commands/InterruptSubystem.java

@@ -0,0 +1,42 @@
+/*----------------------------------------------------------------------------*/
+/* 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;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class InterruptSubystem extends CommandBase {
+  /**
+   * Creates a new InterruptSubystem.
+   */
+  public InterruptSubystem(SubsystemBase subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(subsystem);
+  }
+
+  // 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 true;
+  }
+}

src/main/java/frc4388/robot/commands/shooter/PrepChecker.java

@@ -68,7 +68,7 @@ public class PrepChecker extends CommandBase {
   @Override
   public boolean isFinished() {
     if (m_isDrumReady && m_isAimReady && m_isHoodReady && m_isStorageReady) {
-      return true;
+      //return true;
     }
     return false;
   }

src/main/java/frc4388/robot/commands/shooter/ShootPrepGroup.java

@@ -27,7 +27,7 @@ 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 StoragePrep(m_storage),
       new TrackTarget(m_shooterAim),
       new ShooterVelocityControlPID(m_shooter),
       new HoodPositionPID(m_shooterHood)

src/main/java/frc4388/robot/commands/storage/StoragePrep.java

@@ -32,10 +32,12 @@ public class StoragePrep extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (!m_storage.m_isStorageReadyToFire) {
+    if ((m_storage.getBeamUseless() && m_storage.getBeamShooter()) || (m_startTime + StorageConstants.STORAGE_TIMEOUT) < System.currentTimeMillis()) {
       m_storage.runStorage(StorageConstants.STORAGE_SPEED);
+      m_storage.m_isStorageReadyToFire = false;
     } else {
       m_storage.runStorage(0);
+      m_storage.m_isStorageReadyToFire = true;
     }
   }
 
@@ -47,12 +49,6 @@ public class StoragePrep extends CommandBase {
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    if (!m_storage.getBeamShooter() || (m_startTime + StorageConstants.STORAGE_TIMEOUT) < System.currentTimeMillis()) {
-      m_storage.m_isStorageReadyToFire = true;
-    } else {
-      m_storage.m_isStorageReadyToFire = false;
-    }
-
     return false;
   }
 }