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Added Goal and Trench Position Commands

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Untested
This commit is contained in:
ryan123rudder
2020-03-10 20:23:32 -06:00
parent 713ab60c42
commit b55974b01c
3 changed files with 38 additions and 8 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+10 -4
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@@ -40,6 +40,8 @@ import frc4388.robot.commands.drive.TurnDegrees;
import frc4388.robot.commands.intake.RunIntakeWithTriggers;
import frc4388.robot.commands.shooter.CalibrateShooter;
import frc4388.robot.commands.shooter.ShootPrepGroup;
import frc4388.robot.commands.shooter.ShooterGoalPosition;
import frc4388.robot.commands.shooter.ShooterTrenchPosition;
import frc4388.robot.commands.shooter.TrackTarget;
import frc4388.robot.commands.shooter.TrimShooter;
import frc4388.robot.commands.storage.ManageStorage;
@@ -262,13 +264,17 @@ public class RobotContainer {
// Goal Shooter Position
new JoystickButton(getButtonFox(), ButtonFox.LEFT_BUTTON)
.whileHeld(new PlaySongDrive(m_robotDrive))
.whenReleased(new InterruptSubystem(m_robotDrive));
.whileHeld(new ShooterGoalPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
.whenReleased(new InterruptSubystem(m_robotShooter))
.whenReleased(new InterruptSubystem(m_robotShooterHood))
.whenReleased(new InterruptSubystem(m_robotShooterAim));
// Trench Shooter Position
new JoystickButton(getButtonFox(), ButtonFox.RIGHT_BUTTON)
.whileHeld(new PlaySongDrive(m_robotDrive))
.whenReleased(new InterruptSubystem(m_robotDrive));
.whileHeld(new ShooterTrenchPosition(m_robotShooter, m_robotShooterHood, m_robotShooterAim))
.whenReleased(new InterruptSubystem(m_robotShooter))
.whenReleased(new InterruptSubystem(m_robotShooterHood))
.whenReleased(new InterruptSubystem(m_robotShooterAim));
}
/**
src/main/java/frc4388/robot/commands/shooter/ShooterGoalPosition.java
+14 -2
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@@ -8,13 +8,22 @@
package frc4388.robot.commands.shooter;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
public class ShooterGoalPosition extends CommandBase {
Shooter m_shooter;
ShooterHood m_hood;
ShooterAim m_aim;
/**
* Creates a new ShooterGoalPosition.
*/
public ShooterGoalPosition() {
// Use addRequirements() here to declare subsystem dependencies.
public ShooterGoalPosition(Shooter shooterSub, ShooterHood hoodSub, ShooterAim aimSub) {
m_shooter = shooterSub;
m_hood = hoodSub;
m_aim = aimSub;
addRequirements(m_shooter,m_hood,m_aim);
}
// Called when the command is initially scheduled.
@@ -25,6 +34,9 @@ public class ShooterGoalPosition extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(5000);
m_hood.runAngleAdjustPID(3);
m_aim.runshooterRotatePID(-26.5);
}
// Called once the command ends or is interrupted.
src/main/java/frc4388/robot/commands/shooter/ShooterTrenchPosition.java
+14 -2
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@@ -8,13 +8,22 @@
package frc4388.robot.commands.shooter;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc4388.robot.subsystems.Shooter;
import frc4388.robot.subsystems.ShooterAim;
import frc4388.robot.subsystems.ShooterHood;
public class ShooterTrenchPosition extends CommandBase {
Shooter m_shooter;
ShooterHood m_hood;
ShooterAim m_aim;
/**
* Creates a new ShooterTrenchPosition.
*/
public ShooterTrenchPosition() {
// Use addRequirements() here to declare subsystem dependencies.
public ShooterTrenchPosition(Shooter shooterSub, ShooterHood hoodSub, ShooterAim aimSub) {
m_shooter = shooterSub;
m_hood = hoodSub;
m_aim = aimSub;
addRequirements(m_shooter,m_hood,m_aim);
}
// Called when the command is initially scheduled.
@@ -25,6 +34,9 @@ public class ShooterTrenchPosition extends CommandBase {
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
m_shooter.runDrumShooterVelocityPID(5000);
m_hood.runAngleAdjustPID(3);
m_aim.runshooterRotatePID(-26.5);
}
// Called once the command ends or is interrupted.