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| package org.usfirst.frc4904.robot.commands; | ||
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| public class IndexerGrabberClasp extends IndexerGrabberSet { | ||
| public IndexerGrabberClasp() { | ||
| super(true); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,8 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| public class IndexerGrabberRelease extends IndexerGrabberSet { | ||
| public IndexerGrabberRelease() { | ||
| super(false); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,25 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import edu.wpi.first.wpilibj.command.Command; | ||
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| public class IndexerGrabberSet extends Command { | ||
| protected final boolean clasped; | ||
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| public IndexerGrabberSet(boolean clasped) { | ||
| super(clasped ? "IndexerGrabberClasp" : "IndexerGrabberRelease"); | ||
| requires(RobotMap.Component.rollyBOI.grabber); | ||
| this.clasped = clasped; | ||
| } | ||
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| @Override | ||
| protected void initialize() { | ||
| RobotMap.Component.rollyBOI.grabber.set(clasped); | ||
| } | ||
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| @Override | ||
| protected boolean isFinished() { | ||
| return false; | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,17 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import org.usfirst.frc4904.robot.subsystems.RollyBOI; | ||
| import org.usfirst.frc4904.standard.commands.motor.MotorConstant; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
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| public class IndexerIntake extends CommandGroup { | ||
| public IndexerIntake() { | ||
| super("IndexerIntake"); | ||
| requires(RobotMap.Component.rollyBOI); | ||
| addParallel(new IndexerGrabberRelease()); | ||
| addParallel(new MotorConstant(RobotMap.Component.rollyBOIRollerLeft, RollyBOI.INTAKE_SPEED)); | ||
| addParallel(new MotorConstant(RobotMap.Component.rollyBOIRollerRight, RollyBOI.INTAKE_SPEED)); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,17 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import org.usfirst.frc4904.robot.subsystems.RollyBOI; | ||
| import org.usfirst.frc4904.standard.commands.motor.MotorConstant; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
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| public class IndexerOuttake extends CommandGroup { | ||
| public IndexerOuttake() { | ||
| super("IndexerOuttake"); | ||
| requires(RobotMap.Component.rollyBOI); | ||
| addParallel(new IndexerGrabberRelease()); | ||
| addParallel(new MotorConstant(RobotMap.Component.rollyBOI.rollerLeft, RollyBOI.OUTTAKE_SPEED)); | ||
| addParallel(new MotorConstant(RobotMap.Component.rollyBOI.rollerRight, RollyBOI.OUTTAKE_SPEED)); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,16 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import org.usfirst.frc4904.robot.subsystems.CrateIO; | ||
| import org.usfirst.frc4904.standard.commands.motor.MotorConstant; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
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| public class IntakeRollersIntake extends CommandGroup { | ||
| public IntakeRollersIntake() { | ||
| super("IntakeRollersIntake"); | ||
| requires(RobotMap.Component.crateIO); | ||
| addParallel(new MotorConstant(RobotMap.Component.crateIO.rollerLeft, CrateIO.INTAKE_SPEED)); | ||
| addParallel(new MotorConstant(RobotMap.Component.crateIO.rollerRight, CrateIO.INTAKE_SPEED)); | ||
|
There was a problem hiding this comment. Stop using both of these seperately, instead use the |
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| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import org.usfirst.frc4904.robot.subsystems.CrateIO; | ||
| import org.usfirst.frc4904.standard.commands.motor.MotorConstant; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
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| public class IntakeRollersOuttake extends CommandGroup { | ||
| public IntakeRollersOuttake() { | ||
| super("IntakeRollersOuttake"); | ||
| requires(RobotMap.Component.crateIO); | ||
| addParallel(new MotorConstant(RobotMap.Component.crateIO.rollerLeft, CrateIO.OUTTAKE_SPEED)); | ||
| addParallel(new MotorConstant(RobotMap.Component.crateIO.rollerRight, CrateIO.OUTTAKE_SPEED)); | ||
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| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,15 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
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| public class IntakeSquared extends CommandGroup { | ||
| public IntakeSquared() { | ||
| super("IntakeSquared"); | ||
| requires(RobotMap.Component.crateIO); | ||
| requires(RobotMap.Component.rollyBOI); | ||
| addParallel(new IndexerIntake()); | ||
| addParallel(new IntakeRollersIntake()); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,60 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.standard.commands.motor.MotorIdle; | ||
| import org.usfirst.frc4904.standard.subsystems.motor.Motor; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
| import edu.wpi.first.wpilibj.command.Subsystem; | ||
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| /** | ||
| * Idles motors of a subsystem. | ||
| * Used as a default command | ||
| * | ||
| */ | ||
| public class MotorIdleGroup extends CommandGroup{ | ||
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| /** | ||
| * Run MotorIdle (from WPILib) in parallel on every motor | ||
| * from a list of motors with unrestricted size. | ||
| * | ||
| * @param name | ||
| * @param subsystem | ||
| * @param motors | ||
| */ | ||
| public MotorIdleGroup(String name, Subsystem subsystem, Motor... motors) { | ||
| super(name); | ||
| requires(subsystem); | ||
| for (Motor motor : motors) { | ||
| requires(motor); | ||
| addParallel(new MotorIdle(motor)); | ||
| } | ||
| } | ||
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| /** | ||
| * Run MotorIdle (from WPILib) in parallel on every motor | ||
| * from a list of motors with unrestricted size. | ||
| * Logs the names of all motors that are being idled | ||
| * | ||
| * @param subsystem | ||
| * @param motors | ||
| */ | ||
| public MotorIdleGroup(Subsystem subsystem, Motor... motors) { | ||
| this(MotorIdleGroup.makeName(motors), subsystem, motors); | ||
| } | ||
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| public static String makeName(Motor... motors) { | ||
| String name = ""; | ||
| for (Motor motor : motors) { | ||
| if (motor.getName() != null) { | ||
| name += motor.getName() + " "; | ||
| } else { | ||
| name += "motor "; | ||
| } | ||
| } | ||
| name += "idling"; | ||
| return name; | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
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| public class OuttakeSquared extends CommandGroup { | ||
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| public OuttakeSquared() { | ||
| super("OuttakeSquared"); | ||
| requires(RobotMap.Component.crateIO); | ||
| requires(RobotMap.Component.rollyBOI); | ||
| addParallel(new IndexerOuttake()); | ||
| addParallel(new IntakeRollersOuttake()); | ||
| } | ||
| } |
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@ajnadel said false