RiseOfRidgebotics2020/src/main/java/frc4388/robot/subsystems/Storage.java

/*----------------------------------------------------------------------------*/
/* 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.can.TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;

import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

import frc4388.robot.Constants.StorageConstants;

public class Storage extends SubsystemBase {
  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[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
  public void periodic() {
    // NO
  }

  /**
   * Runs storage motor
   * @param input the voltage to run motor at
   */
  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");
    }
    
  }
}