team2059/ford-java
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added compressor code

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This commit is contained in:
Adam Long 2016-09-12 20:04:15 +00:00
parent e7f3b43157
commit 3f55c7b2b8
3 changed files with 49 additions and 0 deletions
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3
src/org/usfirst/frc/team2059/robot/Robot.java
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@ -16,6 +16,7 @@ public class Robot extends IterativeRobot {
chooser = new SendableChooser(); chooser = new SendableChooser();
SmartDashboard.putData("Auto mode", chooser); SmartDashboard.putData("Auto mode", chooser);
SmartDashboard.putData("MainArm",CommandBase.mainArm.getPIDController()); SmartDashboard.putData("MainArm",CommandBase.mainArm.getPIDController());
SmartDashboard.putBoolean("CompressorEnabled",true);
} }
public void disabledInit() { public void disabledInit() {
} }
@ -35,11 +36,13 @@ public class Robot extends IterativeRobot {
if (autonomousCommand != null) { if (autonomousCommand != null) {
autonomousCommand.cancel(); autonomousCommand.cancel();
} }
CommandBase.pneumatics.setCompressorEnabled(true);
} }
public void teleopPeriodic() { public void teleopPeriodic() {
Scheduler.getInstance().run(); Scheduler.getInstance().run();
SmartDashboard.putNumber("ArmAngleRaw",CommandBase.mainArm.getRaw()); SmartDashboard.putNumber("ArmAngleRaw",CommandBase.mainArm.getRaw());
SmartDashboard.putNumber("ArmAngleDegrees",CommandBase.mainArm.getDegrees()); SmartDashboard.putNumber("ArmAngleDegrees",CommandBase.mainArm.getDegrees());
CommandBase.pneumatics.setCompressorEnabled(SmartDashboard.getBoolean("CompressorEnabled"));
System.out.println(CommandBase.mainArm.getDegrees()); System.out.println(CommandBase.mainArm.getDegrees());
} }
public void testPeriodic() { public void testPeriodic() {

3
src/org/usfirst/frc/team2059/robot/commands/CommandBase.java
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@ -2,15 +2,18 @@ package org.usfirst.frc.team2059.robot.commands;
import org.usfirst.frc.team2059.robot.subsystems.DriveBase; import org.usfirst.frc.team2059.robot.subsystems.DriveBase;
import org.usfirst.frc.team2059.robot.subsystems.EncoderBase; import org.usfirst.frc.team2059.robot.subsystems.EncoderBase;
import org.usfirst.frc.team2059.robot.subsystems.MainArm; import org.usfirst.frc.team2059.robot.subsystems.MainArm;
import org.usfirst.frc.team2059.robot.subsystems.Pneumatics;
import edu.wpi.first.wpilibj.command.Command; import edu.wpi.first.wpilibj.command.Command;
public abstract class CommandBase extends Command { public abstract class CommandBase extends Command {
public static EncoderBase encoderBase; public static EncoderBase encoderBase;
public static DriveBase driveBase; public static DriveBase driveBase;
public static MainArm mainArm; public static MainArm mainArm;
public static Pneumatics pneumatics;
public static void init() { public static void init() {
encoderBase = new EncoderBase(); encoderBase = new EncoderBase();
driveBase = new DriveBase(); driveBase = new DriveBase();
mainArm = new MainArm(); mainArm = new MainArm();
pneumatics = new Pneumatics();
} }
} }
// vim: sw=2:ts=2:sts=2 // vim: sw=2:ts=2:sts=2

43
src/org/usfirst/frc/team2059/robot/subsystems/Pneumatics.java Normal file
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@ -0,0 +1,43 @@
package org.usfirst.frc.team2059.robot.subsystems;
import org.usfirst.frc.team2059.robot.RobotMap;
import org.usfirst.frc.team2059.robot.commands.Drive;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DoubleSolenoid;
public class Pneumatics extends Subsystem {
Compressor compressor = new Compressor(RobotMap.pcmID);
DoubleSolenoid shooterSolenoid = new DoubleSolenoid(RobotMap.shooterSolenoidOne, RobotMap.shooterSolenoidTwo);
DoubleSolenoid armStopSolenoid = new DoubleSolenoid(RobotMap.armStopSolenoidOne, RobotMap.armStopSolenoidTwo);
boolean shooterState, armStopState;
public void initDefaultCommand() {
}
public void setCompressorEnabled(boolean state){
compressor.setClosedLoopControl(state);
}
public void setShooterState(boolean state){
if(state){
shooterSolenoid.set(DoubleSolenoid.Value.kForward);
}else{
shooterSolenoid.set(DoubleSolenoid.Value.kReverse);
}
shooterState=state;
}
public void setArmStopState(boolean state){
if(state){
armStopSolenoid.set(DoubleSolenoid.Value.kForward);
}else{
armStopSolenoid.set(DoubleSolenoid.Value.kReverse);
}
armStopState=state;
}
public boolean getShooterState(){
return shooterState;
}
public boolean getArmStopState(){
return armStopState;
}
public boolean getCompressorEnabled(){
return compressor.enabled();
}
}
// vim: sw=2:ts=2:sts=2