added roller code
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670de6a143
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@ -8,6 +8,8 @@ import org.usfirst.frc.team2059.robot.commands.MoveArm;
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import org.usfirst.frc.team2059.robot.commands.SetArmPosition;
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import org.usfirst.frc.team2059.robot.commands.SetShooterState;
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import org.usfirst.frc.team2059.robot.commands.SetArmStopState;
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import org.usfirst.frc.team2059.robot.commands.ShootAtSpeed;
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import org.usfirst.frc.team2059.robot.commands.SpinRollers;
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import org.usfirst.frc.team2059.robot.RobotMap;
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/**
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* This class is the glue that binds the controls on the physical operator
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@ -29,7 +31,8 @@ public class OI {
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}
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// Print log when button 1 pressed
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//joystickButtons[0][0].whenPressed(new LogEncoder());
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joystickButtons[0][0].whileHeld(new SetShooterState(true));
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joystickButtons[0][0].whileHeld(new SpinRollers(1));
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joystickButtons[0][1].whileHeld(new SetShooterState(true));
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joystickButtons[1][0].whileHeld(new MoveArm(0.5));
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joystickButtons[1][1].whileHeld(new MoveArm(-0.5));
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@ -17,6 +17,8 @@ public class Robot extends IterativeRobot {
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SmartDashboard.putData("Auto mode", chooser);
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SmartDashboard.putData("MainArm",CommandBase.mainArm.getPIDController());
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SmartDashboard.putBoolean("CompressorEnabled",true);
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//Automatically determine if rolling in or rolling out
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SmartDashboard.putBoolean("SmartRollers",true);
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}
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public void disabledInit() {
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}
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@ -37,6 +39,7 @@ public class Robot extends IterativeRobot {
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autonomousCommand.cancel();
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}
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CommandBase.pneumatics.setCompressorEnabled(true);
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CommandBase.pneumatics.setArmStopState(false);
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}
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public void teleopPeriodic() {
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Scheduler.getInstance().run();
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@ -25,7 +25,7 @@ public class RobotMap {
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public static int armStopSolenoidOne = 4;
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public static int armStopSolenoidTwo = 5;
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//Misc
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public static int mainArmPresetCollect = 0;
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public static int mainArmPresetCollect = -3;
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public static int mainArmPresetTraverse = 11;
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public static int mainArmPresetCloseShot = 90;
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public static int mainArmPresetFarShot = 70;
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@ -3,17 +3,20 @@ import org.usfirst.frc.team2059.robot.subsystems.DriveBase;
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import org.usfirst.frc.team2059.robot.subsystems.EncoderBase;
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import org.usfirst.frc.team2059.robot.subsystems.MainArm;
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import org.usfirst.frc.team2059.robot.subsystems.Pneumatics;
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import org.usfirst.frc.team2059.robot.subsystems.Shooter;
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import edu.wpi.first.wpilibj.command.Command;
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public abstract class CommandBase extends Command {
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public static EncoderBase encoderBase;
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public static DriveBase driveBase;
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public static MainArm mainArm;
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public static Pneumatics pneumatics;
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public static Shooter shooter;
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public static void init() {
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encoderBase = new EncoderBase();
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driveBase = new DriveBase();
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mainArm = new MainArm();
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pneumatics = new Pneumatics();
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shooter = new Shooter();
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}
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}
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// vim: sw=2:ts=2:sts=2
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@ -0,0 +1,34 @@
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package org.usfirst.frc.team2059.robot.commands;
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import org.usfirst.frc.team2059.robot.commands.CommandBase;
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import org.usfirst.frc.team2059.robot.Robot;
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import org.usfirst.frc.team2059.robot.RobotMap;
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/**
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*
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*/
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public class ShootAtSpeed extends CommandBase {
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double speed;
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public ShootAtSpeed(double s) {
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speed=s;
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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shooter.shootAtSpeed(speed);
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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protected void end() {
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shooter.shootAtSpeed(0);
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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end();
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}
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}
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// vim: sw=2:ts=2:sts=2
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src/org/usfirst/frc/team2059/robot/commands/SpinRollers.java
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38
src/org/usfirst/frc/team2059/robot/commands/SpinRollers.java
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@ -0,0 +1,38 @@
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package org.usfirst.frc.team2059.robot.commands;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import org.usfirst.frc.team2059.robot.commands.CommandBase;
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import org.usfirst.frc.team2059.robot.Robot;
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/**
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*
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*/
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public class SpinRollers extends CommandBase {
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double speed;
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public SpinRollers(double s) {
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speed=s;
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}
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// Called just before this Command runs the first time
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protected void initialize() {
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}
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// Called repeatedly when this Command is scheduled to run
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protected void execute() {
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if(SmartDashboard.getBoolean("SmartRollers") && mainArm.getDegrees()<5){
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shooter.shootAtSpeed(-.5);
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}else{
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shooter.shootAtSpeed(speed);
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}
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}
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// Make this return true when this Command no longer needs to run execute()
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protected boolean isFinished() {
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return false;
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}
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// Called once after isFinished returns true
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protected void end() {
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shooter.shootAtSpeed(0);
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}
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// Called when another command which requires one or more of the same
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// subsystems is scheduled to run
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protected void interrupted() {
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end();
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}
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}
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// vim: sw=2:ts=2:sts=2
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src/org/usfirst/frc/team2059/robot/subsystems/Shooter.java
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15
src/org/usfirst/frc/team2059/robot/subsystems/Shooter.java
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@ -0,0 +1,15 @@
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package org.usfirst.frc.team2059.robot.subsystems;
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import org.usfirst.frc.team2059.robot.RobotMap;
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import edu.wpi.first.wpilibj.command.Subsystem;
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import edu.wpi.first.wpilibj.CANTalon;
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public class Shooter extends Subsystem {
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CANTalon shooterMotorLeft = new CANTalon(RobotMap.shooterLeftMotor);
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CANTalon shooterMotorRight = new CANTalon(RobotMap.shooterRightMotor);
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public void initDefaultCommand() {
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}
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public void shootAtSpeed(double speed){
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shooterMotorRight.set(speed);
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shooterMotorLeft.set(speed);
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}
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}
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// vim: sw=2:ts=2:sts=2
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