USB edition Digital Deluxe

README.md

@@ -1,2 +1,2 @@
-# Robot-Essentials
- Basic code for any Ridgebotics robot project
+# To-Shoot-TShirt
+ Code to shoot any small and light object out of a barrel on the T-shirt cannon robot.

src/main/java/frc4388/robot/Constants.java

@@ -54,4 +54,8 @@ public final class Constants {
         public static final int SHOOTER_SOLENOID_6_ID = 7;
         public static final int SHOOTER_SOLENOID_7_ID = 8;
     }
+    public static final class DebugConstants {
+        public static final boolean SHOW_INFO = true;
+        public static final Str TYPE_INFO = "INFO";
+    }
 }

src/main/java/frc4388/robot/RobotContainer.java

@@ -1,4 +1,3 @@
-/* Dumb Command Version, Smart Subsytem Version */
 /*----------------------------------------------------------------------------*/
 /* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
 /* Open Source Software - may be modified and shared by FRC teams. The code   */
@@ -54,6 +53,7 @@ public class RobotContainer {
 
     private final ShootTube m_robotShooter = new ShootTube(SolenoidArray);
 
+    private final DPrinter m_debugLogger = m_robotMap.DPrinter
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
     private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -117,6 +117,10 @@ public class RobotContainer {
                 .whenPressed(() -> m_robotShooter.ShootTubeALL(true))
                 .whenReleased(() -> m_robotShooter.ShootTubeALL(false));
         
+        /* Just A test of the DPrint object */
+        new JoystickButton(getOperatorJoystick(), XboxController.B_BUTTON)
+                .whenPressed(() -> m_debugLogger.println("This is a Debug Message"));
+        
         
     }
 

src/main/java/frc4388/robot/RobotMap.java

@@ -19,6 +19,7 @@ import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.Constants.HornConstants;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.utility.RobotGyro;
+import frc4388.utility.DPrint;
 
 /**
  * Defines and holds all I/O objects on the Roborio. This is useful for unit
@@ -81,5 +82,8 @@ public class RobotMap {
     public final Solenoid ShooterSolenoid4 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_4_ID);
     public final Solenoid ShooterSolenoid5 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_5_ID);
     public final Solenoid ShooterSolenoid6 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_6_ID);
-    public final Solenoid ShooterSolenoid7 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_7_ID);    
+    public final Solenoid ShooterSolenoid7 = new Solenoid(ShooterConstants.SHOOTER_SOLENOID_7_ID);
+
+    /* DPrint Utility */
+    public final DPrint DPrinter = new DPrint(DebugConstants.TYPE_INFO);
 }

src/main/java/frc4388/robot/commands/ShootYourShot.java

@@ -1,8 +1,8 @@
-/* Dumb Command Version, Smart Subsytem Version */
 // Copyright (c) FIRST and other WPILib contributors.
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
+/* This Command has been gutted. Like a fish */
 package frc4388.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;

src/main/java/frc4388/robot/subsystems/ShootTube.java

@@ -1,4 +1,3 @@
-/* Dumb Command Version, Smart Subsytem Version */
 // Copyright (c) FIRST and other WPILib contributors.
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
@@ -6,11 +5,12 @@
 package frc4388.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
+import frc4388.utility.DPrint;
+import frc4388.robot.Constants.DebugConstants;
 import edu.wpi.first.wbilib.Solnoid;
 
+DPrint DPrinter = new DPrint(DebugConstants.TYPE_INFO) 
 public class ShootTube extends SubsystemBase {
-    /** Creates a new ShootTube. */
     Solenoid[] m_solenoids;
     int m_cycleCount = 0;
     int m_maxCount;
@@ -19,39 +19,52 @@ public class ShootTube extends SubsystemBase {
         m_maxCount = m_solenoids.length;
     }
     /* 
-    Functions designed for the DPAD left and right buttions to
-    Cycle the tube to be shooting out of
+    Functions designed for the Left and Right Bumpers to
+    Cycle the tube slected manualy.
     */
     public void CycleUp() {
         m_cycleCount++;
         if (m_cycleCount >= m_maxCount || m_cycleCount < 0) {
             m_cycleCount = 0;
-        }  
+        }
+        DPrinter.println("Current CycleCount: "+m_cycleCount)
     }
     public void CycleDown() {
         m_cycleCount--;
         if (m_cycleCount >= m_maxCount || m_cycleCount < 0) {
             m_cycleCount = 0;
-        }   
+        }
+        DPrinter.println("Current CycleCount: "+m_cycleCount)
     }
     /*
     Normal Shoot Tube and Normal Shoot Tube Index Functions
     */
+    /* Function "ShootTubeSet" cycles up automaticly */
     public void ShootTubeSet(Boolean arg) {
         m_solenoids[CycleCount].set(arg);
+        /* If closing valve: 
+        Increse the CycleCount by one, 
+        if the CycleCount >= the length of the array OR CycleCount < 0:
+        set CycleCount to 0 */
         if (arg == false) {
-            CycleCount++;
+            m_cycleCount++;
             if (m_cycleCount >= m_maxCount || m_cycleCount < 0) {
                 m_cycleCount = 0;
             }
         }
+        DPrinter.println("Current CycleCount: "+m_cycleCount)
     }
+    /* Function "ShootTubeIndex" won't cycle up automaticly */
+    /* Not used, yet Useful */
     public void ShootTubeIndex(Boolean arg, int i) {
         m_solenoids[i].set(arg);
     }
     /*
     Just Normal Shoot Tube But it Shoots all of the tubes
-    Designed for DPAD Down
+    in the array in enumeration
+    can't do m_solenoids[1].set(true), m_solenoids[2].set(true) due to 
+    the fact that the object needs to be variable in the length of the array
+    Designed for the X buttion 
     */
     public void ShootTubeALL(Boolean arg) {
         for (Solenoid x : m_solenoids) {

src/main/java/frc4388/utility/DPrint.java

@@ -0,0 +1,33 @@
+/* Simple Debug Log To Console Utility. */
+package frc4388.utility;
+
+import frc4388.robot.Constants.DebugConstants;
+
+public class DPrint {
+    str m_debugMsgType = DebugConstants.TYPE_INFO;
+    public DPrint(str type) {
+        m_debugMsgType = type;
+    }
+    public println(str[] mesage) {
+        switch (m_debugMsgType) {
+            case DebugConstants.TYPE_INFO:
+            if (DebugConstants.SHOW_INFO) {
+                system.out.println("Debug_INFO: "+mesage);
+            }
+            ;
+            default:
+            ;
+        }
+    }
+    public print(str[] mesage) {
+        switch (m_debugMsgType) {
+            case DebugConstants.TYPE_INFO:
+            if (DebugConstants.SHOW_INFO) {
+                system.out.print("Debug_INFO: "+mesage);
+            }
+            ;
+            default:
+            ;
+        }
+    }
+}