Merge pull request #18 from Team4388/addLeveler

Added Leveler

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

@@ -68,8 +68,13 @@ public final class Constants {
     public static final class IntakeConstants {
         public static final int INTAKE_SPARK_ID = 1;
     }
+  
+    public static final class LevelerConstants {
+        public static final int LEVELER_CAN_ID = 9;
+    }
+  
     public static final class StorageConstants {
-        public static final int STORAGE_CAN_ID = 9;
+        public static final int STORAGE_CAN_ID = -1;
         public static final int BEAM_SENSOR_DIO_0 = 0;
         public static final int BEAM_SENSOR_DIO_1 = 1;
         public static final int BEAM_SENSOR_DIO_2 = 2;
@@ -77,9 +82,9 @@ public final class Constants {
         public static final int BEAM_SENSOR_DIO_4 = 4;
         public static final int BEAM_SENSOR_DIO_5 = 5;
     }
+  
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 0;
-
         public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
     }
 

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

@@ -18,9 +18,11 @@ import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveStraightAtVelocityPID;
 import frc4388.robot.commands.DriveWithJoystick;
 import frc4388.robot.commands.RunIntakeWithTriggers;
+import frc4388.robot.commands.RunLevelerWithJoystick;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Intake;
 import frc4388.robot.subsystems.LED;
+import frc4388.robot.subsystems.Leveler;
 import frc4388.robot.subsystems.Storage;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
@@ -38,6 +40,7 @@ public class RobotContainer {
     private final Drive m_robotDrive = new Drive();
     private final LED m_robotLED = new LED();
     private final Intake m_robotIntake = new Intake();
+    private final Leveler m_robotLeveler = new Leveler();
     private final Storage m_robotStorage = new Storage();
 
     /* Controllers */
@@ -57,9 +60,10 @@ public class RobotContainer {
         m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
+        // drives the leveler with an axis input from the driver controller
+        m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
         // runs storage motor at 50 percent
         m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
-        
     }
 
     /**

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

@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* 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.Leveler;
+import frc4388.utility.controller.IHandController;
+
+public class RunLevelerWithJoystick extends CommandBase {
+  private Leveler m_leveler;
+  private IHandController m_controller;
+
+  /**
+   * Creates a new RunLevelerWithJoystick to control the leveler with an Xbox controller.
+   * @param subsystem pass the Drive subsystem from {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   * @param controller pass the Driver {@link frc4388.utility.controller.IHandController#getClass() IHandController} using the
+   * {@link frc4388.robot.RobotContainer#getDriverJoystick() getDriverJoystick()} method in
+   * {@link frc4388.robot.RobotContainer#RobotContainer() RobotContainer}
+   */
+  public RunLevelerWithJoystick(Leveler subsystem, IHandController controller) {
+    m_leveler = subsystem;
+    m_controller = controller;
+    addRequirements(m_leveler);
+  }
+
+  // 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() {
+    double input = m_controller.getLeftXAxis();
+    m_leveler.runLeveler(input);
+  }
+
+  // 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 false;
+  }
+}

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

@@ -18,6 +18,7 @@ public class Intake extends SubsystemBase {
    * Creates a new Intake.
    */
   public Intake() {
+    
     m_intakeMotor.setInverted(false);
   }
 

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

@@ -0,0 +1,45 @@
+/*----------------------------------------------------------------------------*/
+/* 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.subsystems;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.LevelerConstants;
+
+public class Leveler extends SubsystemBase {
+  CANSparkMax m_levelerMotor = new CANSparkMax(LevelerConstants.LEVELER_CAN_ID, MotorType.kBrushless);
+
+  /**
+   * Creates a new Leveler.
+   */
+  public Leveler() {
+    m_levelerMotor.restoreFactoryDefaults();
+    m_levelerMotor.setIdleMode(IdleMode.kCoast);
+    m_levelerMotor.setInverted(false);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+
+  /**
+   * Runs intake motor
+   * @param input the percent output to run motor at
+   */
+  public void runLeveler(double input) {
+    m_levelerMotor.set(input);
+  }
+}