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19 changes: 19 additions & 0 deletions
19
src/main/java/org/team1540/bunnybotTank2023/commands/indexer/IndexerIdleCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,19 @@ | ||
| package org.team1540.bunnybotTank2023.commands.indexer; | ||
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| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
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| public class IndexerIdleCommand extends CommandBase { | ||
| private final Indexer indexer; | ||
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| public IndexerIdleCommand(Indexer indexer) { | ||
| this.indexer = indexer; | ||
| addRequirements(indexer); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| indexer.setBottomSpeed(0.4); | ||
| indexer.setTopSpeed(-0.2); | ||
| } | ||
| } | ||
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27 changes: 27 additions & 0 deletions
27
src/main/java/org/team1540/bunnybotTank2023/commands/turret/TurretManualCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| package org.team1540.bunnybotTank2023.commands.turret; | ||
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| import edu.wpi.first.math.MathUtil; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import edu.wpi.first.wpilibj2.command.button.CommandXboxController; | ||
| import org.team1540.bunnybotTank2023.Constants; | ||
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| public class TurretManualCommand extends CommandBase { | ||
| private final Turret turret; | ||
| private final CommandXboxController controller; | ||
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| public TurretManualCommand(Turret turret, CommandXboxController controller) { | ||
| this.turret = turret; | ||
| this.controller = controller; | ||
| addRequirements(turret); | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| turret.setVoltage(MathUtil.applyDeadband(controller.getRightX(), Constants.DEADZONE_RADIUS) * 12.0); | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| turret.stop(); | ||
| } | ||
| } |
25 changes: 25 additions & 0 deletions
25
src/main/java/org/team1540/bunnybotTank2023/commands/turret/TurretSetpointCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,25 @@ | ||
| package org.team1540.bunnybotTank2023.commands.turret; | ||
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| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
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| public class TurretSetpointCommand extends CommandBase { | ||
| private final Turret turret; | ||
| private final Rotation2d setpoint; | ||
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| public TurretSetpointCommand(Turret turret, Rotation2d setpoint) { | ||
| this.turret = turret; | ||
| this.setpoint = setpoint; | ||
| addRequirements(turret); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| turret.autoSetPosition(setpoint); | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return turret.isAtSetpoint(); | ||
| } | ||
| } |
20 changes: 20 additions & 0 deletions
20
src/main/java/org/team1540/bunnybotTank2023/commands/turret/TurretZeroSequenceCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,20 @@ | ||
| package org.team1540.bunnybotTank2023.commands.turret; | ||
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| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.WaitUntilCommand; | ||
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| import static org.team1540.bunnybotTank2023.Constants.*; | ||
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| public class TurretZeroSequenceCommand extends SequentialCommandGroup { | ||
| public TurretZeroSequenceCommand(Turret turret) { | ||
| addCommands( | ||
| new InstantCommand(() -> turret.setVoltage(2)), | ||
| new WaitUntilCommand(turret::getForwardLimitSwitch), | ||
| new InstantCommand(() -> turret.resetToEncoder(TurretConstants.FORWARD_LIMIT_POSITION)), | ||
| new TurretSetpointCommand(turret, Rotation2d.fromDegrees(0)).asProxy() | ||
| ); | ||
| addRequirements(turret); | ||
| } | ||
| } |
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