changed names, set claw open by default, changed buttons for claw

Commands/BinCollector/BinCloseClaw.cpp

@@ -0,0 +1,18 @@
+#include "BinCloseClaw.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+BinCloseClaw::BinCloseClaw(double timeout): Command("BinCloseClaw") {
+  SetTimeout(timeout);
+}
+void BinCloseClaw::Initialize() {}
+void BinCloseClaw::Execute() {
+  DentRobot::pneumatics->SetClawOpen(false);
+}
+bool BinCloseClaw::IsFinished() {
+  return true;
+}
+void BinCloseClaw::End() {}
+void BinCloseClaw::Interrupted() {
+  End();
+}
+// vim: ts=2:sw=2:et

Commands/BinCollector/BinCloseClaw.h

@@ -1,30 +1,26 @@
-#ifndef OPENARM_H
+#ifndef BINCLOSECLAW_H
-#define OPENARM_H
+#define BINCLOSECLAW_H
 
 #include "Commands/Command.h"
 #include "WPILib.h"
 
 /**
- * @brief Opens bin retaining arm
+ * @brief Closes BinElevatorArms
  */
-class OpenArm: public Command {
+class BinCloseClaw: public Command {
  public:
   /**
-   * @brief Constructs OpenArm
+   * @brief Constructs BinCloseClaw
    *
-   * @param timeout Timeout in seconds
+   * @param timeout Timeout in seconds (default: 0.5)
    */
-  OpenArm(double timeout);
+  BinCloseClaw(double timeout = 0.5);
-  /**
-   * @brief Constructs OpenArm
-   */
-  OpenArm();
   /**
    * @brief Initializes the class
    */
   void Initialize();
   /**
-   * @brief Sets the solenoid to open the arm
+   * @brief Sets the solenoid to close the claw
    */
   void Execute();
   /**

Commands/BinCollector/BinOpenClaw.cpp

@@ -0,0 +1,18 @@
+#include "BinOpenClaw.h"
+#include "../../DentRobot.h"
+#include "../../OI.h"
+BinOpenClaw::BinOpenClaw(double timeout): Command("BinOpenClaw") {
+  SetTimeout(timeout);
+}
+void BinOpenClaw::Initialize() {}
+void BinOpenClaw::Execute() {
+  DentRobot::pneumatics->SetClawOpen(true);
+}
+bool BinOpenClaw::IsFinished() {
+  return true;
+}
+void BinOpenClaw::End() {}
+void BinOpenClaw::Interrupted() {
+  End();
+}
+// vim: ts=2:sw=2:et

Commands/BinCollector/BinOpenClaw.h

@@ -1,30 +1,26 @@
-#ifndef CLOSEARM_H
+#ifndef BINOPENCLAW_H
-#define CLOSEARM_H
+#define BINOPENCLAW_H
 
 #include "Commands/Command.h"
 #include "WPILib.h"
 
 /**
- * @brief Closes bin retaining arm
+ * @brief Closes BinElevatorArms
  */
-class CloseArm: public Command {
+class BinOpenClaw: public Command {
  public:
   /**
-   * @brief Constructs CloseArm
+   * @brief Constructs BinOpenClaw
    *
-   * @param timeout Timeout in seconds
+   * @param timeout Timeout in seconds (default: 0.5)
    */
-  CloseArm(double timeout);
+  BinOpenClaw(double timeout = 0.5);
-  /**
-   * @brief Constructs CloseArm
-   */
-  CloseArm();
   /**
    * @brief Initializes the class
    */
   void Initialize();
   /**
-   * @brief Sets the solenoid to close the arm
+   * @brief Sets the solenoid to open the claw
    */
   void Execute();
   /**

Commands/Elevator/CloseArm.cpp

@@ -1,18 +0,0 @@
-#include "CloseArm.h"
-#include "../../DentRobot.h"
-#include "../../OI.h"
-CloseArm::CloseArm(double timeout): Command("CloseArm") {
-  SetTimeout(timeout);
-}
-void CloseArm::Initialize() {}
-void CloseArm::Execute() {
-  DentRobot::pneumatics->SetElevatorArmOpen(false);
-}
-bool CloseArm::IsFinished() {
-  return true;
-}
-void CloseArm::End() {}
-void CloseArm::Interrupted() {
-  End();
-}
-// vim: ts=2:sw=2:et

Commands/Elevator/OpenArm.cpp

@@ -1,18 +0,0 @@
-#include "OpenArm.h"
-#include "../../DentRobot.h"
-#include "../../OI.h"
-OpenArm::OpenArm(double timeout): Command("OpenArm") {
-  SetTimeout(timeout);
-}
-void OpenArm::Initialize() {}
-void OpenArm::Execute() {
-  DentRobot::pneumatics->SetElevatorArmOpen(true);
-}
-bool OpenArm::IsFinished() {
-  return true;
-}
-void OpenArm::End() {}
-void OpenArm::Interrupted() {
-  End();
-}
-// vim: ts=2:sw=2:et

DentRobot.cpp

@@ -50,7 +50,7 @@ void DentRobot::RobotInit() {
   SmartDashboard::PutNumber("Gyro kP", -0.02);
   printf("Starting compressor\n");
   pneumatics->SetCompressorEnabled(true);
-  pneumatics->SetElevatorArmOpen(false);
+  pneumatics->SetClawOpen(true);
 }
 void DentRobot::DisabledPeriodic() {
   Scheduler::GetInstance()->Run();

OI.cpp

@@ -1,8 +1,6 @@
 #include "OI.h"
 #include "Commands/Elevator/Lower.h"
 #include "Commands/Elevator/Raise.h"
-#include "Commands/Elevator/OpenArm.h"
-#include "Commands/Elevator/CloseArm.h"
 #include "Commands/Elevator/ElevatorCycle.h"
 #include "Commands/Collector/RollIn.h"
 #include "Commands/Collector/RollOut.h"
@@ -11,6 +9,8 @@
 #include "Commands/BinElevator/BinRaise.h"
 #include "Commands/BinCollector/BinCloseArms.h"
 #include "Commands/BinCollector/BinOpenArms.h"
+#include "Commands/BinCollector/BinCloseClaw.h"
+#include "Commands/BinCollector/BinOpenClaw.h"
 #include "Commands/BinCollector/BinIn.h"
 #include "Commands/BinCollector/BinOut.h"
 #include "Commands/Autonomous/CollectTote.h"
@@ -38,12 +38,12 @@ OI::OI() {
   left10->WhenPressed(new BinCloseArms(2));
 
   // Elevator
+  JoystickButton *right1 = new JoystickButton(rightStick, 1);
+  JoystickButton *right2 = new JoystickButton(rightStick, 2);
   JoystickButton *right3 = new JoystickButton(rightStick, 3);
   JoystickButton *right4 = new JoystickButton(rightStick, 4);
   JoystickButton *right5 = new JoystickButton(rightStick, 5);
   JoystickButton *right6 = new JoystickButton(rightStick, 6);
-  JoystickButton *right11 = new JoystickButton(rightStick, 11);
-  JoystickButton *right12 = new JoystickButton(rightStick, 12);
 
   //Full speed lift
   right3->WhileHeld(new Lower(3.5,false,0.5));
@@ -52,8 +52,8 @@ OI::OI() {
   right4->WhileHeld(new RollIn(1));
   right6->WhileHeld(new Raise(3.5,false,-1));
 
-  right11->WhenPressed(new OpenArm(2));
+  right1->WhenPressed(new BinOpenClaw(2));
-  right12->WhenPressed(new CloseArm(2));
+  right2->WhenPressed(new BinCloseClaw(2));
 }
 Joystick* OI::GetRightStick() {
   return rightStick;

Subsystems/Pneumatics.cpp

@@ -8,6 +8,7 @@ Pneumatics::Pneumatics(): Subsystem("Pneumatics") {
   solenoid3 = new Solenoid(COMPRESSOR_PCM_CAN, BINELEVATOR_SOLENOID_THREE);
   solenoid4 = new Solenoid(COMPRESSOR_PCM_CAN, BINELEVATOR_SOLENOID_FOUR);
   armState = false;
+  clawState = true;
 }
 void Pneumatics::InitDefaultCommand() {}
 void Pneumatics::SetArmsOpen(bool state) {
@@ -15,9 +16,10 @@ void Pneumatics::SetArmsOpen(bool state) {
   solenoid2->Set(!state);
   armState=state;
 }
-void Pneumatics::SetElevatorArmOpen(bool state){
+void Pneumatics::SetClawOpen(bool state){
   solenoid3->Set(state);
   solenoid4->Set(!state);
+  clawState=state;
 }
 void Pneumatics::SetCompressorEnabled(bool state) {
   compressor->SetClosedLoopControl(state);
@@ -25,6 +27,9 @@ void Pneumatics::SetCompressorEnabled(bool state) {
 bool Pneumatics::GetArmsOpen() {
   return armState;
 }
+bool Pneumatics::GetClawOpen() {
+  return clawState;
+}
 bool Pneumatics::GetCompressorEnabled() {
   return compressor->Enabled();
 }

Subsystems/Pneumatics.h

@@ -14,7 +14,8 @@ class Pneumatics: public Subsystem {
            *solenoid2, //<! Solenoid 2
            *solenoid3, //<! Solenoid 3
            *solenoid4; //<! Solenoid 4
-  bool armState; //<! State of the arm
+  bool armState, //<! State of the arm
+       clawState; //<! State of the claw
  public:
   /**
    * @brief Constructs Pneumatics
@@ -37,22 +38,23 @@ class Pneumatics: public Subsystem {
    */
   void SetCompressorEnabled(bool state);
   /**
-   * @brief Sets the state of the elevator arm
+   * @brief Sets the state of the bin claw
    *
    * @param state State of the arm
    */
-  void SetElevatorArmOpen(bool state);
+  void SetClawOpen(bool state);
   /**
-   * @brief Gets the state of the arms
+   * @brief Gets the state of the front collectors
    *
    * @return State of the arms
    */
   bool GetArmsOpen();
   /**
-   * @brief Gets the state of the compressor
+   * @brief Gets the state of the bin claw
    *
-   * @return State of the compressor
+   * @return State of the claw
    */
+  bool GetClawOpen();
   bool GetCompressorEnabled();
 
 };