From 570696fa7a362e09e0547d4e581ad0498f02260d Mon Sep 17 00:00:00 2001 From: Tyler-J42 Date: Sat, 17 Feb 2024 17:42:23 -0500 Subject: [PATCH] system testing code --- src/main/java/frc/robot/RobotContainer.java | 10 +++++++--- .../java/frc/robot/constants/IndexerConstants.java | 2 +- .../java/frc/robot/constants/ShooterConstants.java | 2 +- src/main/java/frc/robot/subsystems/Indexer.java | 12 ++++++++++-- src/main/java/frc/robot/subsystems/Intake.java | 7 ++++++- src/main/java/frc/robot/subsystems/Shooter.java | 9 ++++++++- 6 files changed, 33 insertions(+), 9 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index a08c4df..9d25aba 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -133,14 +133,14 @@ public class RobotContainer { ); //intake.setDefaultCommand(intake.intakeUpCommand()); - intake.setDefaultCommand(intake.manualPivot(operator::getLeftY)); + intake.setDefaultCommand(intake.manualPivot(operator::getLeftY, driver::getLeftTriggerAxis)); // shooter.setDefaultCommand(shooter.angleSpeedsSetpoints(ShooterConstants.kShooterLoadAngle, 0.0, 0.0)); - shooter.setDefaultCommand(shooter.manualPivot(operator::getRightY); + shooter.setDefaultCommand(shooter.manualPivot(operator::getRightY, operator::getLeftTriggerAxis)); climber.setDefaultCommand(climber.stop()); - indexer.setDefaultCommand(indexer.autoIndexing()); + indexer.setDefaultCommand(indexer.shootNote(operator::getRightTriggerAxis)); driver.povCenter().onFalse( drivetrain.driveCardinal( @@ -226,6 +226,10 @@ public class RobotContainer { .withPosition(0, 0) .withSize(2, 1) .withWidget(BuiltInWidgets.kBooleanBox); + teleopTab.addBoolean("indexer beam break", indexer.getBeamBreak()); + teleopTab.addBoolean("shooter beam break", shooter.getBeamBreak()); + teleopTab.addDouble("shooter angle", shooter.getShooterAngle()); + teleopTab.addDouble("intake angle", intake.getIntakeAngle()); } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/constants/IndexerConstants.java b/src/main/java/frc/robot/constants/IndexerConstants.java index 2d0a952..c280aa0 100644 --- a/src/main/java/frc/robot/constants/IndexerConstants.java +++ b/src/main/java/frc/robot/constants/IndexerConstants.java @@ -3,5 +3,5 @@ package frc.robot.constants; public class IndexerConstants { public static final int kIndexerID = 13; - public static final int kIndexerBeamBreakChannel = 3; + public static final int kIndexerBeamBreakChannel = 2; } diff --git a/src/main/java/frc/robot/constants/ShooterConstants.java b/src/main/java/frc/robot/constants/ShooterConstants.java index a1fcd40..000d22c 100644 --- a/src/main/java/frc/robot/constants/ShooterConstants.java +++ b/src/main/java/frc/robot/constants/ShooterConstants.java @@ -31,5 +31,5 @@ public class ShooterConstants { public static final int kShooterEncoderChannelA = 0; public static final int kShooterEncoderChannelB = 1; - public static final int kShooterBeamBreakChannel = 4; + public static final int kShooterBeamBreakChannel = 3; } diff --git a/src/main/java/frc/robot/subsystems/Indexer.java b/src/main/java/frc/robot/subsystems/Indexer.java index 2cd2b33..177eb23 100644 --- a/src/main/java/frc/robot/subsystems/Indexer.java +++ b/src/main/java/frc/robot/subsystems/Indexer.java @@ -1,6 +1,10 @@ package frc.robot.subsystems; import com.revrobotics.CANSparkMax; + +import java.util.function.BooleanSupplier; +import java.util.function.DoubleSupplier; + import com.revrobotics.CANSparkBase.IdleMode; import com.revrobotics.CANSparkLowLevel.MotorType; @@ -35,9 +39,13 @@ public class Indexer extends SubsystemBase{ }); } - public Command shootNote(){ + public Command shootNote(DoubleSupplier indexerSpeed){ return run(() -> { - indexerMotor.set(1.0); + indexerMotor.set(indexerSpeed.getAsDouble()); }); } + + public BooleanSupplier getBeamBreak(){ + return indexerBeamBreak::get; + } } diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java index 5e80fe9..2e8b59f 100644 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -70,9 +70,10 @@ public class Intake extends SubsystemBase{ }); } - public Command manualPivot(DoubleSupplier pivotPower){ + public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier rollerSpinny){ return run(() ->{ intakePivot.set(pivotPower.getAsDouble()); + intakeRoller.set(rollerSpinny.getAsDouble()); }); } @@ -107,4 +108,8 @@ public class Intake extends SubsystemBase{ ); }); } + + public DoubleSupplier getIntakeAngle(){ + return intakeEncoder::getPosition; + } } diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java index 04bfc75..7b34064 100644 --- a/src/main/java/frc/robot/subsystems/Shooter.java +++ b/src/main/java/frc/robot/subsystems/Shooter.java @@ -1,5 +1,6 @@ package frc.robot.subsystems; +import java.util.function.BooleanSupplier; import java.util.function.DoubleSupplier; import com.revrobotics.CANSparkMax; @@ -132,9 +133,15 @@ public class Shooter extends SubsystemBase{ return () -> {return pivotEncoder.getDistance();}; } - public Command manualPivot(DoubleSupplier pivotPower){ + public BooleanSupplier getBeamBreak(){ + return shooterBeamBreak::get; + } + + public Command manualPivot(DoubleSupplier pivotPower, DoubleSupplier spinny){ return run(() ->{ shooterPivot.set(pivotPower.getAsDouble()); + topShooter.set(spinny.getAsDouble()); + bottomShooter.set(spinny.getAsDouble()); }); }