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Merge pull request #22 from StuyPulse/se/controls-redo
Se/controls redo
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10 changes: 5 additions & 5 deletions
10
...robot/commands/arm/ArmEnableOverride.java → ...commands/arm/ArmSetShootHeightToHigh.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,19 +1,19 @@ | ||
| package com.stuypulse.robot.commands.arm; | ||
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| import com.stuypulse.robot.subsystems.arm.Arm; | ||
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| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
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| public class ArmEnableOverride extends InstantCommand{ | ||
| public class ArmSetShootHeightToHigh extends InstantCommand{ | ||
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| private final Arm arm; | ||
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| public ArmEnableOverride() { | ||
| this.arm = Arm.getInstance(); | ||
| public ArmSetShootHeightToHigh() { | ||
| arm = Arm.getInstance(); | ||
| addRequirements(arm); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| arm.setOverriding(true); | ||
| arm.setShootHeightHigh(); | ||
| } | ||
| } |
10 changes: 5 additions & 5 deletions
10
...obot/commands/arm/ArmDisableOverride.java → .../commands/arm/ArmSetShootHeightToLow.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,19 +1,19 @@ | ||
| package com.stuypulse.robot.commands.arm; | ||
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| import com.stuypulse.robot.subsystems.arm.Arm; | ||
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| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
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| public class ArmDisableOverride extends InstantCommand{ | ||
| public class ArmSetShootHeightToLow extends InstantCommand{ | ||
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| private final Arm arm; | ||
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| public ArmDisableOverride() { | ||
| this.arm = Arm.getInstance(); | ||
| public ArmSetShootHeightToLow() { | ||
| arm = Arm.getInstance(); | ||
| addRequirements(arm); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| arm.setOverriding(false); | ||
| arm.setShootHeightLow(); | ||
| } | ||
| } |
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10 changes: 10 additions & 0 deletions
10
src/main/java/com/stuypulse/robot/commands/arm/ArmToClimbing.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| package com.stuypulse.robot.commands.arm; | ||
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| import com.stuypulse.robot.subsystems.arm.Arm; | ||
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| public class ArmToClimbing extends ArmSetState{ | ||
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| public ArmToClimbing(){ | ||
| super(Arm.State.CLIMBING); | ||
| } | ||
| } |
31 changes: 4 additions & 27 deletions
31
src/main/java/com/stuypulse/robot/commands/arm/ArmToFerry.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,33 +1,10 @@ | ||
| package com.stuypulse.robot.commands.arm; | ||
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| import com.stuypulse.robot.constants.Settings; | ||
| import com.stuypulse.robot.subsystems.arm.Arm; | ||
| import com.stuypulse.stuylib.util.StopWatch; | ||
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| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
| public class ArmToFerry extends ArmSetState{ | ||
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| public class ArmToFerry extends InstantCommand{ | ||
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| private final Arm arm; | ||
| private final StopWatch stopWatch; | ||
| private double lastClick; | ||
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| public ArmToFerry() { | ||
| arm = Arm.getInstance(); | ||
| stopWatch = new StopWatch(); | ||
| lastClick = 0; | ||
| addRequirements(arm); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| if (stopWatch.getTime() - lastClick < Settings.Driver.DOUBLE_CLICK_TIME_BETWEEN_CLICKS) { | ||
| arm.setRequestedState(Arm.State.LOB_FERRY); | ||
| } | ||
| else { | ||
| arm.setRequestedState(Arm.State.LOW_FERRY); | ||
| } | ||
| lastClick = stopWatch.getTime(); | ||
| public ArmToFerry(){ | ||
| super(Arm.State.SPEAKER); | ||
| } | ||
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| } | ||
| } |
10 changes: 0 additions & 10 deletions
10
src/main/java/com/stuypulse/robot/commands/arm/ArmToLobFerry.java
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10 changes: 0 additions & 10 deletions
10
src/main/java/com/stuypulse/robot/commands/arm/ArmToLowFerry.java
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31 changes: 4 additions & 27 deletions
31
src/main/java/com/stuypulse/robot/commands/arm/ArmToSpeaker.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,33 +1,10 @@ | ||
| package com.stuypulse.robot.commands.arm; | ||
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| import com.stuypulse.robot.constants.Settings; | ||
| import com.stuypulse.robot.subsystems.arm.Arm; | ||
| import com.stuypulse.stuylib.util.StopWatch; | ||
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| import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
| public class ArmToSpeaker extends ArmSetState{ | ||
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| public class ArmToSpeaker extends InstantCommand{ | ||
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| private final Arm arm; | ||
| private final StopWatch stopWatch; | ||
| private double lastClick; | ||
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| public ArmToSpeaker() { | ||
| arm = Arm.getInstance(); | ||
| stopWatch = new StopWatch(); | ||
| lastClick = 0; | ||
| addRequirements(arm); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| if (stopWatch.getTime() - lastClick < Settings.Driver.DOUBLE_CLICK_TIME_BETWEEN_CLICKS) { | ||
| arm.setRequestedState(Arm.State.SPEAKER_HIGH); | ||
| } | ||
| else { | ||
| arm.setRequestedState(Arm.State.SPEAKER_LOW); | ||
| } | ||
| lastClick = stopWatch.getTime(); | ||
| public ArmToSpeaker(){ | ||
| super(Arm.State.SPEAKER); | ||
| } | ||
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| } | ||
| } |
10 changes: 0 additions & 10 deletions
10
src/main/java/com/stuypulse/robot/commands/arm/ArmToSpeakerHigh.java
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10 changes: 0 additions & 10 deletions
10
src/main/java/com/stuypulse/robot/commands/arm/ArmToSpeakerLow.java
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10 changes: 10 additions & 0 deletions
10
src/main/java/com/stuypulse/robot/commands/arm/ArmToSubwooferShot.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,10 @@ | ||
| package com.stuypulse.robot.commands.arm; | ||
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| import com.stuypulse.robot.subsystems.arm.Arm; | ||
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| public class ArmToSubwooferShot extends ArmSetState{ | ||
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| public ArmToSubwooferShot(){ | ||
| super(Arm.State.SUBWOOFER_SHOT); | ||
| } | ||
| } |
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