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src/main/java/frc/robot/commands/autonomous/AutoNoteShoot.java
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package frc.robot.commands.autonomous; | ||
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| import java.util.function.DoubleSupplier; | ||
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| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
| import edu.wpi.first.wpilibj2.command.RunCommand; | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.WaitCommand; | ||
| import frc.robot.commands.Shooter.ShooterSetDegree; | ||
| import frc.robot.subsystems.FeederSubsystem; | ||
| import frc.robot.subsystems.ShooterSubsystem; | ||
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| // NOTE: Consider using this command inline, rather than writing a subclass. For more | ||
| // information, see: | ||
| // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html | ||
| public class AutoNoteShoot extends SequentialCommandGroup { | ||
| /** Creates a new AutoNoteShoot. */ | ||
| public AutoNoteShoot(ShooterSubsystem m_shooter, FeederSubsystem m_feeder, DoubleSupplier degree) { | ||
| // Add your commands in the addCommands() call, e.g. | ||
| // addCommands(new FooCommand(), new BarCommand()); | ||
| addCommands( | ||
| new ShooterSetDegree(m_shooter, degree). | ||
| withTimeout(1). | ||
| alongWith(new InstantCommand(() -> m_shooter.ShooterThrowMotorOutput(-0.6)) | ||
| .andThen(new WaitCommand(0.6)) | ||
| .andThen(new InstantCommand(() -> m_feeder.backward()).withTimeout(0.5))) | ||
| .andThen(new InstantCommand(() -> m_shooter.ShooterThrowMotorOutput(0)) | ||
| .andThen(new InstantCommand(() -> m_feeder.stop()))) | ||
| ); | ||
| } | ||
| } |
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package frc.robot.subsystems; | ||
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| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.CANSparkBase.IdleMode; | ||
| import com.revrobotics.CANSparkLowLevel.MotorType; | ||
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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| public class ArmSubsystem extends SubsystemBase { | ||
| CANSparkMax armleft = new CANSparkMax(16, MotorType.kBrushless); | ||
| CANSparkMax armright = new CANSparkMax(13, MotorType.kBrushless); | ||
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| public ArmSubsystem() { | ||
| armleft.setIdleMode(IdleMode.kBrake); | ||
| armright.setIdleMode(IdleMode.kBrake); | ||
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| } | ||
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| public void rightarmup(){ | ||
| armright.set(0.6); | ||
| } | ||
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| public void rightarmdown(){ | ||
| armright.set(-0.6); | ||
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| } | ||
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| public void leftarmup(){ | ||
| armleft.set(-0.6); | ||
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| } | ||
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| public void leftarmdown(){ | ||
| armleft.set(0.6); | ||
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| } | ||
| public void leftarmstop(){ | ||
| armleft.set(0); | ||
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| } | ||
| public void rightarmstop(){ | ||
| armright.set(0); | ||
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| } | ||
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
| } | ||
| } |