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Unfinished shooter needs testing, pid needs tuning Co-authored-by: totallysomeoneyoudontknow <dev.renu@gmail.com>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| // Copyright (c) 2024 CurtinFRC | ||
| // Open Source Software, you can modify it according to the terms | ||
| // of the MIT License at the root of this project | ||
|
|
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| package frc.robot; | ||
|
|
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.Commands; | ||
| import frc.robot.subsystems.Index; | ||
| import frc.robot.subsystems.Intake; | ||
| import frc.robot.subsystems.Shooter; | ||
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|
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| public class Superstructure { | ||
| private final Shooter m_shooter; | ||
| private final Intake m_intake; | ||
| private final Index m_index; | ||
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| public Superstructure(Shooter shooter, Intake intake, Index index) { | ||
| m_shooter = shooter; | ||
| m_intake = intake; | ||
| m_index = index; | ||
| } | ||
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| public Command intake() { | ||
| var lol = | ||
| m_index.m_intaking.onTrue( | ||
| Commands.parallel( | ||
| m_intake.intake(3).until(m_index.m_hasNote).andThen(m_intake.stop()), | ||
| m_index.intake(-3).until(m_index.m_hasNote).andThen(m_index.stop()))); | ||
| return m_intake.intake(8).until(lol); | ||
| } | ||
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| public Command shooter() { | ||
| return m_shooter.spinup(500).andThen(Commands.parallel(m_shooter.maintain(), m_index.shoot())); | ||
| } | ||
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| public Command stop() { | ||
| return Commands.parallel(m_shooter.stop(), m_intake.stop(), m_index.stop()); | ||
| } | ||
|
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| public Command outake() { | ||
| return Commands.parallel(m_intake.outake(-8), m_index.outake(8)); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| // Copyright (c) 2024 CurtinFRC | ||
| // Open Source Software, you can modify it according to the terms | ||
| // of the MIT License at the root of this project | ||
|
|
||
| package frc.robot.subsystems; | ||
|
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| import com.revrobotics.CANSparkLowLevel.MotorType; | ||
| import com.revrobotics.CANSparkMax; | ||
| import edu.wpi.first.networktables.BooleanPublisher; | ||
| import edu.wpi.first.networktables.NetworkTable; | ||
| import edu.wpi.first.networktables.NetworkTableInstance; | ||
| import edu.wpi.first.wpilibj.DigitalInput; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import edu.wpi.first.wpilibj2.command.button.Trigger; | ||
| import frc.robot.Constants; | ||
|
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| public class Index extends SubsystemBase { | ||
| private final CANSparkMax m_motor = new CANSparkMax(Constants.indexerPort, MotorType.kBrushless); | ||
| private final DigitalInput frontBeambreak = new DigitalInput(Constants.intakeFrontBeambreak); | ||
| private final DigitalInput backBeamBreak = new DigitalInput(Constants.intakeBackBeambreak); | ||
|
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| public final Trigger m_hasNote = new Trigger(backBeamBreak::get); | ||
| public final Trigger m_intaking = new Trigger(frontBeambreak::get); | ||
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| private final NetworkTable driveStats = NetworkTableInstance.getDefault().getTable("Index"); | ||
| private final BooleanPublisher m_ntHasNote = driveStats.getBooleanTopic("Has Note").publish(); | ||
| private final BooleanPublisher m_ntIntaking = driveStats.getBooleanTopic("Intaking").publish(); | ||
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| public Index() {} | ||
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| public Command shoot() { | ||
| return run(() -> m_motor.setVoltage(-8)).until(m_hasNote.negate()); | ||
| } | ||
|
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| public Command intake(double voltage) { | ||
| return run(() -> m_motor.setVoltage(voltage)).until(m_hasNote); | ||
| } | ||
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| public Command outake(double voltage) { | ||
| return run(() -> m_motor.setVoltage(voltage)); | ||
| } | ||
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| public Command stop() { | ||
| return runOnce(() -> m_motor.stopMotor()); | ||
| } | ||
|
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| @Override | ||
| public void periodic() { | ||
| m_ntHasNote.set(m_hasNote.getAsBoolean()); | ||
| m_ntIntaking.set(m_intaking.getAsBoolean()); | ||
| } | ||
| } |
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