From f5106f42329bbed41006eaee2cf3c78f6b545485 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 6 Feb 2020 19:57:25 -0700 Subject: [PATCH] Added command for storage to run --- .../java/frc4388/robot/RobotContainer.java | 5 +++++ .../frc4388/robot/subsystems/Storage.java | 20 +++++++++++++------ 2 files changed, 19 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index d52b23e..d54a017 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -20,6 +20,7 @@ import frc4388.robot.commands.RunIntakeWithTriggers; import frc4388.robot.subsystems.Drive; import frc4388.robot.subsystems.Intake; import frc4388.robot.subsystems.LED; +import frc4388.robot.subsystems.Storage; import frc4388.utility.LEDPatterns; import frc4388.utility.controller.IHandController; import frc4388.utility.controller.XboxController; @@ -36,6 +37,7 @@ 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 Storage m_robotStorage = new Storage(); /* Controllers */ private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID); @@ -54,6 +56,9 @@ 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)); + // runs storage motor at 50 percent + m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.5), m_robotStorage)); + } /** diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java index 7b85a0d..31634ca 100644 --- a/src/main/java/frc4388/robot/subsystems/Storage.java +++ b/src/main/java/frc4388/robot/subsystems/Storage.java @@ -8,6 +8,7 @@ package frc4388.robot.subsystems; import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.revrobotics.CANSparkMax; import com.revrobotics.SparkMax; import com.revrobotics.CANSparkMaxLowLevel.MotorType; @@ -18,18 +19,18 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc4388.robot.Constants.StorageConstants; public class Storage extends SubsystemBase { - private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_TALON_ID, MotorType.kBrushless); + private WPI_TalonSRX m_storageMotor = new WPI_TalonSRX(StorageConstants.STORAGE_TALON_ID); private DigitalInput[] m_beamSensors = new DigitalInput[6]; /** * Creates a new Storage. */ public Storage() { m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_0); - m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1); - m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2); - m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_3); - m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_4); - m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_5); + m_beamSensors[1] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1); + m_beamSensors[2] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2); + m_beamSensors[3] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_3); + m_beamSensors[4] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_4); + m_beamSensors[5] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_5); } @Override @@ -44,5 +45,12 @@ public class Storage extends SubsystemBase { public void runStorage(double input) { m_storageMotor.set(input); boolean beam_on = m_beamSensors[0].get(); + + if (beam_on) { + System.err.println("Beam on"); + } else { + System.err.println("Beam off"); + } + } }