Team4388/RiseOfRidgebotics2020
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Merge pull request #22 from Team4388/add-gear-shifting-with-pcm

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Add gear shifting with Double Solenoid
This commit is contained in:
Keenan D. Buckley
2020-02-10 23:53:50 +00:00
committed by GitHub
parent 68a39f8eca a93327317a
commit df1468d6ae
2 changed files with 26 additions and 0 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+8
View File
@@ -97,6 +97,14 @@ public class RobotContainer {
new JoystickButton(getDriverJoystick(), XboxController.X_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.resetGyroYaw(), m_robotDrive));
// sets solenoids into high gear
new JoystickButton(getDriverJoystick(), XboxController.START_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
// sets solenoids into low gear
new JoystickButton(getDriverJoystick(), XboxController.BACK_BUTTON)
.whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(false), m_robotDrive));
//new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
// .whenPressed(new RunCommand(() -> m_robotDrive.runMotionMagicPID(5000, 0), m_robotDrive));
// interrupts any running command
src/main/java/frc4388/robot/subsystems/Drive.java
+18
View File
@@ -20,6 +20,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.PigeonIMU;
import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
@@ -49,6 +50,8 @@ public class Drive extends SubsystemBase {
public static Gains m_gainsTurning = DriveConstants.DRIVE_TURNING_GAINS;
public static Gains m_gainsMotionMagic = DriveConstants.DRIVE_MOTION_MAGIC_GAINS;
public DoubleSolenoid speedShift;
/**
* Add your docs here.
*/
@@ -61,6 +64,8 @@ public class Drive extends SubsystemBase {
m_pigeon.configFactoryDefault();
resetGyroYaw();
speedShift = new DoubleSolenoid(7,0,1);
/* set back motors as followers */
m_leftBackMotor.follow(m_leftFrontMotor);
m_rightBackMotor.follow(m_rightFrontMotor);
@@ -414,4 +419,17 @@ public class Drive extends SubsystemBase {
m_pigeon.setYaw(0);
m_pigeon.setAccumZAngle(0);
}
/**
* Set to high or low gear based on boolean state, true = high, false = low
* @param state Chooses between high or low gear
*/
public void setShiftState(boolean state) {
if (state == true) {
speedShift.set(DoubleSolenoid.Value.kForward);
}
if (state == false) {
speedShift.set(DoubleSolenoid.Value.kReverse);
}
}
}