USB edition

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

@@ -1,3 +1,4 @@
+/* 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   */
@@ -15,6 +16,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
 import frc4388.robot.subsystems.Drive;
 import frc4388.robot.subsystems.Horn;
+import frc4388.robot.subsystems.ShootTube;
 import frc4388.robot.subsystems.LED;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
@@ -39,11 +41,7 @@ public class RobotContainer {
     
     private final Horn m_robotHorn = new Horn(m_robotMap.HornSolenoid);
 
-    /* Controllers */
+    private final Solenoid[] SolenoidArray = {
-    private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
-    private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
-
-    private final Solenoid[] tubes = {
         m_robotMap.ShooterSolenoid0, 
         m_robotMap.ShooterSolenoid1,
         m_robotMap.ShooterSolenoid2,
@@ -51,7 +49,15 @@ public class RobotContainer {
         m_robotMap.ShooterSolenoid4,
         m_robotMap.ShooterSolenoid5,
         m_robotMap.ShooterSolenoid6,
-        m_robotMap.ShooterSolenoid7};
+        m_robotMap.ShooterSolenoid7
+        };
+
+    private final ShootTube m_robotShooter = new ShootTube(SolenoidArray);
+
+    /* Controllers */
+    private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
+    private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
+
 
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
@@ -87,15 +93,29 @@ public class RobotContainer {
                 .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
                 .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
         */
-        // Fire horn
+        /* Fire horn */
         new JoystickButton(getOperatorJoystick(), XboxController.LEFT_TRIGGER_AXIS)
                 .whenPressed(() -> m_robotHorn.hornSet(true))
                 .whenReleased(() -> m_robotHorn.hornSet(false));
         
+        /* Shoot T-Shirt */
         new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
-                .whenPressed(() -> new ShootYourShot(true)) /*Fire one per once triger*/
+                .whenPressed(() -> m_robotShooter.ShootTubeSet(true))
-                .whenReleased(() -> new ShootYourShot(false));
+                .whenReleased(() -> m_robotShooter.ShootTubeSet(false));
         
+        /* TODO: Check if these binds work */
+        /* Cycle Between Solenoids */
+        new JoystickButton(getOperatorJoystick(), XboxController.DPAD_LEFT)
+                .whenPressed(() -> m_robotShooter.CycleDown());
+        
+        new JoystickButton(getOperatorJoystick(), XboxController.DPAD_RIGHT)
+                .whenPressed(() -> m_robotShooter.CycleUp());
+        
+        /* Fire All of the Solenoids In the Shooter Array */
+        /* Extra power. this will be truly worth "I Survived the T Shirt Cannon" T-shirt */
+        new JoystickButton(getOperatorJoystick(), XboxController.DPAD_DOWN)
+                .whenPressed(() -> m_robotShooter.ShootTubeALL(true))
+                .whenReleased(() -> m_robotShooter.ShootTubeALL(false));
         
         
     }
@@ -137,4 +157,4 @@ public class RobotContainer {
     public Joystick getDriverJoystick() {
         return m_driverXbox.getJoyStick();
     }
-}
+}

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

@@ -1,3 +1,4 @@
+/* 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.
@@ -7,14 +8,10 @@ package frc4388.robot.commands;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
 public class ShootYourShot extends CommandBase {
-  private Solenoid[] m_solenoids = {};
-  private int counter;
 
   /** Creates a new ShootYourShot
    *. */
   public ShootYourShot(Solenoid[] solenoids) {
-    m_solenoids = solenoids;
-    counter = 0;
   }
 
   // Called when the command is initially scheduled.
@@ -24,13 +21,12 @@ public class ShootYourShot extends CommandBase {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    ShootTube.ShootTubeSet(m_solenoids[counter]);
+    ShootTube.ShootTubeSet(true);
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    counter += 1;
   }
 
   // Returns true when the command should end.
@@ -38,4 +34,4 @@ public class ShootYourShot extends CommandBase {
   public boolean isFinished() {
     return false;
   }
-}
+}

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

@@ -1,3 +1,4 @@
+/* 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.
@@ -9,18 +10,57 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wbilib.Solnoid;
 
 public class ShootTube extends SubsystemBase {
-  /** Creates a new ShootTube. */
+    /** Creates a new ShootTube. */
-  Solenoid m_solenoids;
+    Solenoid[] m_solenoids;
-  public ShootTube(Solenoid[] solenoids) {
+    int m_cycleCount = 0;
-    m_solenoids = solenoids;
+    int m_maxCount;
-  }
+    public ShootTube(Solenoid[] solenoids) {
-
+        m_solenoids = solenoidArray;
-  public void ShootTubeSet(boolean arg, Solenoid tube) {
+        m_maxCount = m_solenoids.length;
-    tube.set(arg);
+    }
-  }
+    /* 
-
+    Functions designed for the DPAD left and right buttions to
-  @Override
+    Cycle the tube to be shooting out of
-  public void periodic() {
+    */
-    // This method will be called once per scheduler run
+    public void CycleUp() {
-  }
+        m_cycleCount++;
-}
+        if (m_cycleCount >= m_maxCount || m_cycleCount < 0) {
+            m_cycleCount = 0;
+        }  
+    }
+    public void CycleDown() {
+        m_cycleCount--;
+        if (m_cycleCount >= m_maxCount || m_cycleCount < 0) {
+            m_cycleCount = 0;
+        }   
+    }
+    /*
+    Normal Shoot Tube and Normal Shoot Tube Index Functions
+    */
+    public void ShootTubeSet(Boolean arg) {
+        m_solenoids[CycleCount].set(arg);
+        if (arg == false) {
+            CycleCount++;
+            if (m_cycleCount >= m_maxCount || m_cycleCount < 0) {
+                m_cycleCount = 0;
+            }
+        }
+    }
+    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
+    */
+    public void ShootTubeALL(Boolean arg) {
+        for (Solenoid x : m_solenoids) {
+            x.set(arg);
+        }
+        m_cycleCount = 0;
+    }
+    @Override
+    public void periodic() {
+        // This method will be called once per scheduler run
+    }
+}