Merge pull request #21 from Team4388/add-intake-extender

add intake extender

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

@@ -66,7 +66,8 @@ public final class Constants {
     }
     
     public static final class IntakeConstants {
-        public static final int INTAKE_SPARK_ID = 1;
+        public static final int INTAKE_SPARK_ID = 9;
+        public static final int EXTENDER_SPARK_ID = 10;
     }
     
     public static final class ClimberConstants {
@@ -74,7 +75,7 @@ public final class Constants {
     }
   
     public static final class LevelerConstants {
-        public static final int LEVELER_CAN_ID = 9;
+        public static final int LEVELER_CAN_ID = -1;
     }
   
     public static final class StorageConstants {

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

@@ -18,6 +18,7 @@ import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveStraightAtVelocityPID;
 import frc4388.robot.commands.DriveWithJoystick;
 import frc4388.robot.commands.RunClimberWithTriggers;
+import frc4388.robot.commands.RunExtenderOutIn;
 import frc4388.robot.commands.RunIntakeWithTriggers;
 import frc4388.robot.subsystems.Climber;
 import frc4388.robot.commands.RunLevelerWithJoystick;
@@ -59,7 +60,7 @@ public class RobotContainer {
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
         m_robotDrive.setDefaultCommand(new DriveWithJoystick(m_robotDrive, getDriverController()));
-        // drives motor with input from triggers on the opperator controller
+        // drives intake with input from triggers on the opperator controller
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // drives climber with input from triggers on the opperator controller
         m_robotClimber.setDefaultCommand(new RunClimberWithTriggers(m_robotClimber, getDriverController()));
@@ -87,6 +88,9 @@ public class RobotContainer {
         new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
             .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
             .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
+        
+        new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
+            .whenPressed(new RunExtenderOutIn(m_robotIntake));
 
         /* PID Test Command */
         // runs velocity PID while driving straight

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

@@ -0,0 +1,62 @@
+/*----------------------------------------------------------------------------*/
+/* 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 frc4388.robot.subsystems.Intake;
+import frc4388.utility.controller.IHandController;
+
+public class RunExtenderOutIn extends CommandBase {
+  private Intake m_intake;
+  private boolean isOut = false;
+  private long startTime;
+
+  /**
+   * Uses input from opperator to run the extender motor.
+   * The left bumper will run the extender in and out.
+   * @param subsystem pass the Intake subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   */
+  public RunExtenderOutIn(Intake subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_intake = subsystem;
+    addRequirements(m_intake);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    isOut = !isOut;
+    startTime = System.currentTimeMillis();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if (isOut){
+      m_intake.runExtender(0.3);
+    } else {
+      m_intake.runExtender(-0.3);
+    }
+
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_intake.runExtender(0.0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    if (startTime + 3000 < System.currentTimeMillis()) {
+      return true;
+    }
+    return false;
+  }
+}

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

@@ -7,19 +7,38 @@
 
 package frc4388.robot.subsystems;
 
+import com.revrobotics.CANDigitalInput;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.IntakeConstants;
 
 public class Intake extends SubsystemBase {
-  Spark m_intakeMotor = new Spark(IntakeConstants.INTAKE_SPARK_ID);
-  
+  CANSparkMax m_intakeMotor = new CANSparkMax(IntakeConstants.INTAKE_SPARK_ID, MotorType.kBrushless);
+  CANSparkMax m_extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_SPARK_ID, MotorType.kBrushless);
+  CANDigitalInput m_extenderForwardLimit;
+  CANDigitalInput m_extenderReverseLimit;
+
   /**
    * Creates a new Intake.
    */
   public Intake() {
-    
+    m_intakeMotor.restoreFactoryDefaults();
+    m_extenderMotor.restoreFactoryDefaults();
+
+    m_intakeMotor.setIdleMode(IdleMode.kCoast);
+    m_extenderMotor.setIdleMode(IdleMode.kBrake);
     m_intakeMotor.setInverted(false);
+    m_extenderMotor.setInverted(false);
+    
+    m_extenderForwardLimit = m_extenderMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_extenderReverseLimit = m_extenderMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
+    m_extenderForwardLimit.enableLimitSwitch(false);
+    m_extenderReverseLimit.enableLimitSwitch(false);
   }
 
   @Override
@@ -34,4 +53,12 @@ public class Intake extends SubsystemBase {
   public void runIntake(double input) {
     m_intakeMotor.set(input);
   }
+  
+   /**
+   * Runs extender motor
+   * @param input the percent output to run motor at
+   */
+  public void runExtender(double input) {
+    m_extenderMotor.set(input);
+  }
 }