Merge pull request #69 from CyberCoyotes/noteSubsystem-01-24

Note subsystem 01 24

src/main/java/frc/robot/commands/GetNoteStatus.java

@@ -1,8 +1,39 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.NoteSensorSubsystem;
 
 /* A simple but often used command to get a loaded (true) or nonloaded (false) status of the time of flight sensor pointed at the 'note' */
 public class GetNoteStatus extends Command {
-
-}
+    /*  */
+
+        private final NoteSensorSubsystem m_noteSensorSub;
+
+        public GetNoteStatus(NoteSensorSubsystem noteSensorSub) {
+            this.m_noteSensorSub = noteSensorSub;
+            addRequirements(noteSensorSub);
+        }
+
+        @Override
+        public void initialize() {
+            // Code to run when the command is first initialized
+        }
+
+        @Override
+        public void execute() {
+            // Code to run repeatedly while the command is scheduled to run
+            m_noteSensorSub.isNoteLoaded();
+        }
+
+        @Override
+        public void end(boolean interrupted) {
+            // Code to run when the command ends or is interrupted
+        }
+
+        @Override
+        public boolean isFinished() {
+            // Return true when the command should end
+            return false;
+        }
+
+    } // end of class GetNoteStatus

src/main/java/frc/robot/subsystems/NoteSensorSubsystem.java

@@ -1,24 +1,29 @@
 package frc.robot.subsystems;
 
+/* Subsystem class to primarily use a Time of Flight sensor from 'Playing with Fusion'.
+ * It will read the distance from the sensor to the 'note' and determine if the note is in a load position.
+ * It should return an actual distance reading to the SmartDashboard and a boolean for a method 'isNoteLoaded'
+ * This sensor data will change LED status and enable/disable intake and index motors
+ */
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
 import com.playingwithfusion.TimeOfFlight;
 import com.playingwithfusion.TimeOfFlight.RangingMode;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
-/* Subsystem class to primarily use a Time of Flight sensor from 'Playing with Fusion'.
- * It will read the distance from the sensor to the 'note' and determine if the note is in a load position.
- * This sensor data will change LED status and enable/disable intake and index motors
- */
-public class NoteSensorSubsystem extends SubsystemBase {
-     /* Set ID in web interface http://172.22.11.2:5812/     */   
+public class NoteSensorSubsystem extends SubsystemBase{
+
+     /* Set ID in web interface http://172.22.11.2:5812/  */   
      private TimeOfFlight sensorNoteDistance = new TimeOfFlight(Constants.CANIDs.timeOfFlightID);
 
      /* Set the distance to the note to be considered 'in load position.'
      Measure in (mm) to determine an appropriate value.*/
      public int noteDistanceCheck = 0;
-
+  
     /* Constructor */
     public NoteSensorSubsystem() {
         /* Initialize the sensor, and '.setRangingMode(RandingMode.short)' for this usage.
@@ -48,13 +53,12 @@ public void setLEDColor() {
         * Requires 'isNoteLoadeded' value and two led methods */
 
     }
-
 
     public void periodic() {
         // This method will be called once per scheduler run
         // It did not seem to be called on the dashboard until I added a Command to the RobotContainer, but it would display updated data even when the button was not pressed.
         SmartDashboard.putNumber("Note Distance", sensorNoteDistance.getRange());
         SmartDashboard.putBoolean("Note Loaded", isNoteLoaded());
     }
-        
+
 } // end of class NoteSensorSubsystem