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Added command for storage to run

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aarav18
2020-02-06 19:57:25 -07:00
parent 29593564c2
commit f5106f4232
2 changed files with 19 additions and 6 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+5
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@@ -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));
}
/**
src/main/java/frc4388/robot/subsystems/Storage.java
+14 -6
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@@ -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");
}
}
}