New indexer #17
New indexer #17
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…lkIO.java and Intake.java
… addressed all issues that I could fix myself.
…tter fit everyone's wishes.
…exist but will work once Daniel commits.
…t.java class that extends Command.
…at CrateIO interacts with RobotMap.
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| @Override | ||
| protected void interrupted() { | ||
| RobotMap.Component.rollyBOI.setState(RollyBOI.GrabberState.CLASPED); |
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| @Override | ||
| protected boolean isFinished() { | ||
| return true; |
| currentState = state; | ||
| } | ||
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| public void safelySetState(GrabberState state) { |
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| @Override | ||
| protected boolean isFinished() { | ||
| return false; |
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@ajnadel said false
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| public IndexerGrabberSet(boolean clasped) { | ||
| super(clasped ? "IndexerGrabberClasp" : "IndexerGrabberRelease"); | ||
| requires(RobotMap.Component.rollyBOIGrabber); |
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this should be RobotMap.Component.rollyBOI.grabber
| if (motor.getName() != null) { | ||
| name += motor.getName() + " "; | ||
| } else { | ||
| name += "unnamed motor "; |
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Maybe just make this Motor ?
| } else { | ||
| name += "unnamed motor "; | ||
| } | ||
| name += "idling"; |
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why do you want idling between each motor? this seems odd...
| @Override | ||
| public void bindCommands() { | ||
| RobotMap.Component.joystick.button3.onlyWhileHeld(new IntakeSquared()); | ||
| RobotMap.Component.joystick.button4.onlyWhileHeld(new OuttakeSquared()); |
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we need buttons 5 & 6 to be mapped to forcefully opening and closing the rollyBOI pistons, in that order.
| public class CrateIO extends Subsystem { | ||
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| public static final double INTAKE_SPEED = 1.0; | ||
| public static final double OUTTAKE_SPEED = -1.0; |
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at least for now, as that's what we were using today. they may change, but 100% is too much
| setDefaultCommand(new MotorIdleGroup("CrateIO", this, rollerLeft, rollerRight)); | ||
| } | ||
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| public void set(double speed) { |
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if we never use this, delet?
| setDefaultCommand(new MotorIdleGroup("RollyBOI", this, rollerLeft, rollerRight)); | ||
| } | ||
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| public void set(double speed) { |
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again we never use this right?
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| public class RollyBOI extends Subsystem { | ||
| public static final double INTAKE_SPEED = -1.0; | ||
| public static final double OUTTAKE_SPEED = 1.0; |
| } | ||
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| public void set(boolean clasped) { | ||
| if (clasped) this.grabber.set(CLASPED); |
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Ternary is for returning a value.
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If this makes you uncomfortable, we can add curly braces.
| } | ||
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| public void set(boolean clasped) { | ||
| if (clasped) this.grabber.set(CLASPED); |
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Ternary is for returning a value.
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| @Override | ||
| protected boolean isFinished() { | ||
| return false; |
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@ajnadel said false
Indexer and intake code. Added intake and outtake routines which use both indexer and intakerollers.