Arm auton edits #23
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,32 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| /* | ||
| * ArmSet is similar to MotorPositionConstant | ||
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There was a problem hiding this comment. This isn't ArmSet, this is ArmMove. |
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| * but takes an ArmState instead of an absolute position. | ||
| */ | ||
| import org.usfirst.frc4904.robot.RobotMap; | ||
| import org.usfirst.frc4904.robot.subsystems.Arm; | ||
| import org.usfirst.frc4904.standard.commands.motor.MotorPositionConstant; | ||
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| public class ArmMove extends MotorPositionConstant { | ||
| protected final Arm.ArmState state; | ||
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| public ArmMove(Arm.ArmState state, boolean endOnArrival) { | ||
| super(RobotMap.Component.arm, state.position, endOnArrival); | ||
| this.state = state; | ||
| } | ||
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| /** | ||
| * @see #ArmSet | ||
| * endOnArrival defaults to true | ||
| */ | ||
| public ArmMove(Arm.ArmState state) { | ||
| super(RobotMap.Component.arm, state.position); | ||
| this.state = state; | ||
| } | ||
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| public Arm.ArmState getState() { | ||
| return state; | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,21 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.subsystems.Arm; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
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| /** | ||
| * | ||
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There was a problem hiding this comment. This should be a proper javadocs. |
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| * Once ArmMove puts the arm into | ||
| * the desired position, the boolean | ||
| * endOnArrival is true, causing | ||
| * the 'on' value in ArmBrakeSet to | ||
| * change to true, extending the | ||
| * piston and stopping the arm. | ||
| * | ||
| */ | ||
| public class ArmSet extends CommandGroup { | ||
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There was a problem hiding this comment. Isn't this command the exact same thing as ArmMove, but with a different name? Do we need this? |
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| public ArmSet(Arm.ArmState state) { | ||
| addSequential(new ArmMove(state, true)); | ||
| } | ||
| } | ||
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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 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 IndexerRollersIntake extends CommandGroup { | ||
| public IndexerRollersIntake() { | ||
| super("IndexerIntake"); | ||
| 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 |
|---|---|---|
| @@ -0,0 +1,15 @@ | ||
| 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 IndexerRollersOuttake extends CommandGroup { | ||
| public IndexerRollersOuttake() { | ||
| super("IndexerIntake"); | ||
| addParallel(new MotorConstant(RobotMap.Component.rollyBOIRollerLeft, RollyBOI.OUTTAKE_SPEED)); | ||
| addParallel(new MotorConstant(RobotMap.Component.rollyBOIRollerRight, RollyBOI.OUTTAKE_SPEED)); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,12 +1,13 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.subsystems.RollyBOI; | ||
| import edu.wpi.first.wpilibj.command.CommandGroup; | ||
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| public class OuttakeSquared extends CommandGroup { | ||
| public OuttakeSquared() { | ||
| super("OuttakeSquared"); | ||
| addParallel(new IndexerOuttake(RollyBOI.OUTTAKE_SPEED)); | ||
| addParallel(new IntakeRollersOuttake()); | ||
| } | ||
| } |
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This should have the correct ports. Either that or this comment shouldn't be here.