From d4a18c9c57fa4625f763e35e332bf3b655fe28b7 Mon Sep 17 00:00:00 2001 From: "Keenan D. Buckley" Date: Mon, 2 Mar 2020 21:23:33 -0700 Subject: [PATCH] Move Gains and Trims to Utilities --- src/main/java/frc4388/robot/Constants.java | 1 + .../frc4388/robot/commands/TrimShooter.java | 6 +----- .../java/frc4388/robot/subsystems/Drive.java | 5 +---- .../java/frc4388/robot/subsystems/Shooter.java | 17 +++++++---------- .../frc4388/robot/subsystems/ShooterAim.java | 8 +++----- .../java/frc4388/robot/subsystems/Storage.java | 12 +++--------- .../java/frc4388/{robot => utility}/Gains.java | 2 +- .../java/frc4388/{robot => utility}/Trims.java | 2 +- 8 files changed, 18 insertions(+), 35 deletions(-) rename src/main/java/frc4388/{robot => utility}/Gains.java (98%) rename src/main/java/frc4388/{robot => utility}/Trims.java (96%) diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java index 3685fd5..2dd226d 100644 --- a/src/main/java/frc4388/robot/Constants.java +++ b/src/main/java/frc4388/robot/Constants.java @@ -10,6 +10,7 @@ package frc4388.robot; import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration; import edu.wpi.first.wpilibj.kinematics.DifferentialDriveKinematics; +import frc4388.utility.Gains; import frc4388.utility.LEDPatterns; /** diff --git a/src/main/java/frc4388/robot/commands/TrimShooter.java b/src/main/java/frc4388/robot/commands/TrimShooter.java index b77a4ba..84daecd 100644 --- a/src/main/java/frc4388/robot/commands/TrimShooter.java +++ b/src/main/java/frc4388/robot/commands/TrimShooter.java @@ -7,14 +7,10 @@ package frc4388.robot.commands; -import edu.wpi.first.wpilibj.Joystick; -import frc4388.utility.controller.XboxController; import edu.wpi.first.wpilibj2.command.CommandBase; -import frc4388.robot.RobotContainer; -import frc4388.robot.Trims; import frc4388.robot.Constants.OIConstants; import frc4388.robot.subsystems.Shooter; -import frc4388.robot.subsystems.ShooterAim; +import frc4388.utility.controller.XboxController; public class TrimShooter extends CommandBase { private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID); diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java index 2d02a42..300359d 100644 --- a/src/main/java/frc4388/robot/subsystems/Drive.java +++ b/src/main/java/frc4388/robot/subsystems/Drive.java @@ -24,7 +24,6 @@ import com.ctre.phoenix.sensors.PigeonIMU; import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame; import edu.wpi.first.wpilibj.Filesystem; -import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.geometry.Pose2d; import edu.wpi.first.wpilibj.geometry.Rotation2d; @@ -34,10 +33,8 @@ import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard; import edu.wpi.first.wpilibj.smartdashboard.SendableChooser; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; - import frc4388.robot.Constants.DriveConstants; -import frc4388.robot.Constants.PneumaticsConstants; -import frc4388.robot.Gains; +import frc4388.utility.Gains; public class Drive extends SubsystemBase { /* Create Motors, Gyros, etc */ diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java index ae10d75..b4f1403 100644 --- a/src/main/java/frc4388/robot/subsystems/Shooter.java +++ b/src/main/java/frc4388/robot/subsystems/Shooter.java @@ -10,25 +10,22 @@ package frc4388.robot.subsystems; import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.TalonFXControlMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; - +import com.revrobotics.CANDigitalInput; +import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; +import com.revrobotics.CANEncoder; +import com.revrobotics.CANPIDController; import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax.IdleMode; import com.revrobotics.CANSparkMax.SoftLimitDirection; -import com.revrobotics.CANDigitalInput; -import com.revrobotics.CANEncoder; -import com.revrobotics.CANPIDController; -import com.revrobotics.ControlType; -import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; import com.revrobotics.CANSparkMaxLowLevel.MotorType; +import com.revrobotics.ControlType; -import edu.wpi.first.wpilibj.Joystick; -import edu.wpi.first.wpilibj.XboxController; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc4388.robot.Gains; -import frc4388.robot.Trims; import frc4388.robot.Constants.ShooterConstants; +import frc4388.utility.Gains; import frc4388.utility.ShooterTables; +import frc4388.utility.Trims; import frc4388.utility.controller.IHandController; public class Shooter extends SubsystemBase { diff --git a/src/main/java/frc4388/robot/subsystems/ShooterAim.java b/src/main/java/frc4388/robot/subsystems/ShooterAim.java index 1111749..07b04f5 100644 --- a/src/main/java/frc4388/robot/subsystems/ShooterAim.java +++ b/src/main/java/frc4388/robot/subsystems/ShooterAim.java @@ -8,20 +8,18 @@ package frc4388.robot.subsystems; import com.revrobotics.CANDigitalInput; +import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; import com.revrobotics.CANEncoder; import com.revrobotics.CANPIDController; import com.revrobotics.CANSparkMax; -import com.revrobotics.ControlType; -import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; import com.revrobotics.CANSparkMax.IdleMode; import com.revrobotics.CANSparkMax.SoftLimitDirection; import com.revrobotics.CANSparkMaxLowLevel.MotorType; +import com.revrobotics.ControlType; -import edu.wpi.first.networktables.NetworkTableInstance; -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc4388.robot.Gains; import frc4388.robot.Constants.ShooterConstants; +import frc4388.utility.Gains; public class ShooterAim extends SubsystemBase { public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless); diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java index 604176c..a014544 100644 --- a/src/main/java/frc4388/robot/subsystems/Storage.java +++ b/src/main/java/frc4388/robot/subsystems/Storage.java @@ -7,23 +7,17 @@ package frc4388.robot.subsystems; -import com.ctre.phoenix.motorcontrol.can.TalonSRX; -import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; -import com.revrobotics.CANDigitalInput; import com.revrobotics.CANEncoder; import com.revrobotics.CANPIDController; import com.revrobotics.CANSparkMax; -import com.revrobotics.ControlType; -import com.revrobotics.SparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; -import com.revrobotics.CANDigitalInput.LimitSwitchPolarity; +import com.revrobotics.ControlType; + import edu.wpi.first.wpilibj.DigitalInput; -import edu.wpi.first.wpilibj.Encoder; -import edu.wpi.first.wpilibj.command.WaitUntilCommand; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc4388.robot.Gains; import frc4388.robot.Constants.StorageConstants; +import frc4388.utility.Gains; public class Storage extends SubsystemBase { public CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless); diff --git a/src/main/java/frc4388/robot/Gains.java b/src/main/java/frc4388/utility/Gains.java similarity index 98% rename from src/main/java/frc4388/robot/Gains.java rename to src/main/java/frc4388/utility/Gains.java index 7d2b3d7..f1b78f9 100644 --- a/src/main/java/frc4388/robot/Gains.java +++ b/src/main/java/frc4388/utility/Gains.java @@ -5,7 +5,7 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -package frc4388.robot; +package frc4388.utility; /** * Add your docs here. diff --git a/src/main/java/frc4388/robot/Trims.java b/src/main/java/frc4388/utility/Trims.java similarity index 96% rename from src/main/java/frc4388/robot/Trims.java rename to src/main/java/frc4388/utility/Trims.java index 859794f..b97791d 100644 --- a/src/main/java/frc4388/robot/Trims.java +++ b/src/main/java/frc4388/utility/Trims.java @@ -5,7 +5,7 @@ /* the project. */ /*----------------------------------------------------------------------------*/ -package frc4388.robot; +package frc4388.utility; public class Trims{ public double m_turretTrim;