From cc232cf574a9f070eea2c09ddad0fac7bf3fe18e Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Sun, 8 Mar 2020 13:50:39 -0600 Subject: [PATCH] Integrate Storage Commands into Fire Commands --- src/main/java/frc4388/robot/Constants.java | 14 ++++++++------ .../robot/commands/shooter/ShootFireGroup.java | 4 ++-- .../robot/commands/storage/StoragePrep.java | 2 ++ 3 files changed, 12 insertions(+), 8 deletions(-) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 44e8f01..cbf0e96 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -105,12 +105,6 @@ public final class Constants { public static final double TICKS_PER_INCH_LOW = TICKS_PER_WHEEL_REV_LOW/INCHES_PER_WHEEL_REV; public static final double INCHES_PER_TICK_LOW = 1/TICKS_PER_INCH_LOW; } - - public static final class IntakeConstants {; - public static final double EXTENDER_SPEED = 0.3; - public static final int INTAKE_SPARK_ID = 12; - public static final int EXTENDER_SPARK_ID = 13; - } public static final class ShooterConstants { /* Motor IDs */ @@ -156,6 +150,14 @@ public final class Constants { public static final class LevelerConstants { public static final int LEVELER_CAN_ID = 15; } + + public static final class IntakeConstants {; + public static final double EXTENDER_SPEED = 0.3; + public static final double INTAKE_SPEED = 1.0; + + public static final int INTAKE_SPARK_ID = 12; + public static final int EXTENDER_SPARK_ID = 13; + } public static final class StorageConstants { public static final int STORAGE_CAN_ID = 11; diff --git a/src/main/java/frc4388/robot/commands/shooter/ShootFireGroup.java b/src/main/java/frc4388/robot/commands/shooter/ShootFireGroup.java index 02d5799..ce18d4b 100644 --- a/src/main/java/frc4388/robot/commands/shooter/ShootFireGroup.java +++ b/src/main/java/frc4388/robot/commands/shooter/ShootFireGroup.java @@ -29,8 +29,8 @@ public class ShootFireGroup extends ParallelRaceGroup { addCommands( new RunCommand(() -> m_shooter.runDrumShooterVelocityPID(m_shooter.addFireVel()), m_shooter), new RunCommand(() -> m_shooterHood.runAngleAdjustPID(m_shooterHood.addFireAngle()), m_shooterHood), - new TrackTarget(m_shooterAim) - //new StorageFire(m_storage) + new TrackTarget(m_shooterAim), + new StorageFire(m_storage) ); } } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/commands/storage/StoragePrep.java b/src/main/java/frc4388/robot/commands/storage/StoragePrep.java index 4e73870..0f39d25 100644 --- a/src/main/java/frc4388/robot/commands/storage/StoragePrep.java +++ b/src/main/java/frc4388/robot/commands/storage/StoragePrep.java @@ -44,8 +44,10 @@ public class StoragePrep extends CommandBase { @Override public boolean isFinished() { if (!m_storage.getBeamShooter() || (startTime + StorageConstants.STORAGE_TIMEOUT) < System.currentTimeMillis()) { + m_storage.m_isStorageReadyToFire = true; return true; } else { + m_storage.m_isStorageReadyToFire = false; return false; } }