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Implement shooter readiness

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Speed up shooter side detection for haptics
Change some variable names
This commit is contained in:
nathanrsxtn
2022-07-04 22:02:13 -06:00
parent 65cf0dd3a3
commit 74af4b2f2a
4 changed files with 98 additions and 76 deletions
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src/main/java/frc4388/robot/RobotMap.java
+34 -34
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@@ -31,56 +31,56 @@ public class RobotMap {
}
/* Drive Subsystem */
public final WPI_TalonSRX driveLeftLeaderMotor = new WPI_TalonSRX(DRIVE_LEFT_LEADER_CAN_ID);
public final WPI_TalonSRX driveRightLeaderMotor = new WPI_TalonSRX(DRIVE_RIGHT_LEADER_CAN_ID);
public final WPI_TalonSRX driveLeftFollowerMotor = new WPI_TalonSRX(DRIVE_LEFT_FOLLOWER_CAN_ID);
public final WPI_TalonSRX driveRightFollowerMotor = new WPI_TalonSRX(DRIVE_RIGHT_FOLLOWER_CAN_ID);
public final WPI_TalonSRX driveMotorLeftLeader = new WPI_TalonSRX(DRIVE_LEFT_LEADER_ID);
public final WPI_TalonSRX driveMotorRightLeader = new WPI_TalonSRX(DRIVE_RIGHT_LEADER_ID);
public final WPI_TalonSRX driveMotorLeftFollower = new WPI_TalonSRX(DRIVE_LEFT_FOLLOWER_ID);
public final WPI_TalonSRX driveMotorRightFollower = new WPI_TalonSRX(DRIVE_RIGHT_FOLLOWER_ID);
public final DifferentialDrive driveBase = new DifferentialDrive(driveLeftLeaderMotor, driveRightLeaderMotor);
public final DifferentialDrive driveBase = new DifferentialDrive(driveMotorLeftLeader, driveMotorRightLeader);
private void configureDriveMotorControllers() {
driveLeftLeaderMotor.configFactoryDefault();
driveRightLeaderMotor.configFactoryDefault();
driveLeftFollowerMotor.configFactoryDefault();
driveRightFollowerMotor.configFactoryDefault();
driveMotorLeftLeader.configFactoryDefault();
driveMotorRightLeader.configFactoryDefault();
driveMotorLeftFollower.configFactoryDefault();
driveMotorRightFollower.configFactoryDefault();
driveLeftLeaderMotor.setNeutralMode(NeutralMode.Brake);
driveRightLeaderMotor.setNeutralMode(NeutralMode.Brake);
driveLeftFollowerMotor.setNeutralMode(NeutralMode.Brake);
driveRightFollowerMotor.setNeutralMode(NeutralMode.Brake);
driveMotorLeftLeader.setNeutralMode(NeutralMode.Brake);
driveMotorRightLeader.setNeutralMode(NeutralMode.Brake);
driveMotorLeftFollower.setNeutralMode(NeutralMode.Brake);
driveMotorRightFollower.setNeutralMode(NeutralMode.Brake);
driveLeftFollowerMotor.follow(driveLeftLeaderMotor);
driveRightFollowerMotor.follow(driveRightLeaderMotor);
driveMotorLeftFollower.follow(driveMotorLeftLeader);
driveMotorRightFollower.follow(driveMotorRightLeader);
}
/* Horn Subsystem */
public final Solenoid hornSolenoid = new Solenoid(PneumaticsModuleType.REVPH, HORN_SOLENOID_ID);
/* Shooter Subsystem */
public final Solenoid shooterLowerLefterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_LEFTER_SOLENOID_ID);
public final Solenoid shooterLowerLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_LEFT_SOLENOID_ID);
public final Solenoid shooterLowerRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHT_SOLENOID_ID);
public final Solenoid shooterLowerRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_LOWER_RIGHTER_SOLENOID_ID);
public final Solenoid shooterUpperLefterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFTER_SOLENOID_ID);
public final Solenoid shooterUpperLeftSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_LEFT_SOLENOID_ID);
public final Solenoid shooterUpperRightSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHT_SOLENOID_ID);
public final Solenoid shooterUpperRighterSolenoid = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_UPPER_RIGHTER_SOLENOID_ID);
public final Solenoid shooterSolenoidBottomLeftOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_LEFT_OUTER_ID);
public final Solenoid shooterSolenoidBottomLeftInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_LEFT_INNER_ID);
public final Solenoid shooterSolenoidBottomRightInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_RIGHT_INNER_ID);
public final Solenoid shooterSolenoidBottomRightOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_BOTTOM_RIGHT_OUTER_ID);
public final Solenoid shooterSolenoidTopLeftOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_LEFT_OUTER_ID);
public final Solenoid shooterSolenoidTopLeftInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_LEFT_INNER_ID);
public final Solenoid shooterSolenoidTopRightInner = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_RIGHT_INNER_ID);
public final Solenoid shooterSolenoidTopRightOuter = new Solenoid(PneumaticsModuleType.REVPH, SHOOTER_SOLENOID_TOP_RIGHT_OUTER_ID);
private void configureLiveWindow() {
SendableRegistry.setName(driveLeftFollowerMotor, "Drive", "Left Follower Motor");
SendableRegistry.setName(driveRightFollowerMotor, "Drive", "Right Follower Motor");
SendableRegistry.setName(driveBase, "Drive", "Drive Base");
SendableRegistry.setName(driveMotorLeftFollower, "Drive", "Motor Left Follower");
SendableRegistry.setName(driveMotorRightFollower, "Drive", "Motor Right Follower");
SendableRegistry.setName(driveBase, "Drive", "Base");
SendableRegistry.setName(hornSolenoid, "Horn", "Solenoid");
SendableRegistry.setName(shooterLowerLefterSolenoid, "Shooter", "Lower Lefter Solenoid");
SendableRegistry.setName(shooterLowerLeftSolenoid, "Shooter", "Lower Left Solenoid");
SendableRegistry.setName(shooterLowerRightSolenoid, "Shooter", "Lower Right Solenoid");
SendableRegistry.setName(shooterLowerRighterSolenoid, "Shooter", "Lower Righter Solenoid");
SendableRegistry.setName(shooterUpperLefterSolenoid, "Shooter", "Upper Lefter Solenoid");
SendableRegistry.setName(shooterUpperLeftSolenoid, "Shooter", "Upper Left Solenoid");
SendableRegistry.setName(shooterUpperRightSolenoid, "Shooter", "Upper Right Solenoid");
SendableRegistry.setName(shooterUpperRighterSolenoid, "Shooter", "Upper Righter Solenoid");
SendableRegistry.setName(shooterSolenoidBottomLeftOuter, "Shooter", "Solenoid Bottom Left Outer");
SendableRegistry.setName(shooterSolenoidBottomLeftInner, "Shooter", "Solenoid Bottom Left Inner");
SendableRegistry.setName(shooterSolenoidBottomRightInner, "Shooter", "Solenoid Bottom Right Inner");
SendableRegistry.setName(shooterSolenoidBottomRightOuter, "Shooter", "Solenoid Bottom Right Outer");
SendableRegistry.setName(shooterSolenoidTopLeftOuter, "Shooter", "Solenoid Top Left Outer");
SendableRegistry.setName(shooterSolenoidTopLeftInner, "Shooter", "Solenoid Top Left Inner");
SendableRegistry.setName(shooterSolenoidTopRightInner, "Shooter", "Solenoid Top Right Inner");
SendableRegistry.setName(shooterSolenoidTopRightOuter, "Shooter", "Solenoid Top Right Outer");
}
}