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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| /*----------------------------------------------------------------------------*/ | ||
| /* Copyright (c) 2019 FIRST. All Rights Reserved. */ | ||
| /* Open Source Software - may be modified and shared by FRC teams. The code */ | ||
| /* must be accompanied by the FIRST BSD license file in the root directory of */ | ||
| /* the project. */ | ||
| /*----------------------------------------------------------------------------*/ | ||
|
|
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| package frc.robot.commands; | ||
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| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import frc.robot.RobotContainer; | ||
| import frc.robot.subsystems.IntakeSub; | ||
|
|
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| public class AutoIntakeIntake extends CommandBase { | ||
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| public AutoIntakeIntake() { | ||
| addRequirements(RobotContainer.intakeSub); | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| } | ||
|
|
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| System.out.println("Intake intake Command init"); | ||
| SmartDashboard.putBoolean("Exist", true); | ||
| SmartDashboard.putBoolean("Not Exist", false); | ||
| SmartDashboard.putBoolean("Exist Execute", false); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| SmartDashboard.putBoolean("Exist Execute", true); | ||
| System.out.println("Intake intake Command exe"); | ||
| RobotContainer.intakeSub.intakeOut(); | ||
| RobotContainer.intakeSub.runIntake(IntakeSub.intakeSpeed); | ||
| } | ||
|
|
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| RobotContainer.intakeSub.runIntake(0); | ||
| SmartDashboard.putBoolean("Not Exist", true); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
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45 changes: 45 additions & 0 deletions
45
src/main/java/frc/robot/commands/auto/AutoDistanceDriveCommand.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| /*----------------------------------------------------------------------------*/ | ||
| /* Copyright (c) 2019 FIRST. All Rights Reserved. */ | ||
| /* Open Source Software - may be modified and shared by FRC teams. The code */ | ||
| /* must be accompanied by the FIRST BSD license file in the root directory of */ | ||
| /* the project. */ | ||
| /*----------------------------------------------------------------------------*/ | ||
|
|
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| package frc.robot.commands.auto; | ||
|
|
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| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import frc.robot.RobotContainer; | ||
|
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| public class AutoDistanceDriveCommand extends CommandBase { | ||
| private double distance; | ||
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| public AutoDistanceDriveCommand() { | ||
| addRequirements(RobotContainer.driveSub); | ||
| } | ||
|
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| @Override | ||
| public void initialize() { | ||
| } | ||
|
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| SmartDashboard.putNumber("this is the encoder of r1", RobotContainer.r1.getEncoder().getPosition()); | ||
| RobotContainer.driveSub.drive(0.5, 0); | ||
| } | ||
|
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| } | ||
|
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| if(RobotContainer.r1.getEncoder().getPosition() > 35){ | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| /*----------------------------------------------------------------------------*/ | ||
| /* Copyright (c) 2019 FIRST. All Rights Reserved. */ | ||
| /* Open Source Software - may be modified and shared by FRC teams. The code */ | ||
| /* must be accompanied by the FIRST BSD license file in the root directory of */ | ||
| /* the project. */ | ||
| /*----------------------------------------------------------------------------*/ | ||
|
|
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| package frc.robot.commands.auto; | ||
|
|
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| import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; | ||
| import edu.wpi.first.wpilibj2.command.ParallelDeadlineGroup; | ||
| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import frc.robot.commands.AutoIntakeIntake; | ||
| import frc.robot.commands.AutoShootIntake; | ||
| import frc.robot.commands.auto.paths.Move; | ||
|
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| // NOTE: Consider using this command inline, rather than writing a subclass. For more | ||
| // information, see: | ||
| // https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html | ||
| public class AutoIntaking extends SequentialCommandGroup { | ||
| /** | ||
| * Creates a new AutoIntaking. | ||
| */ | ||
| public AutoIntaking() { | ||
|
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| addCommands( | ||
| // new AutoDistanceDriveCommand(), | ||
| new BasicAuto(), | ||
| // new Move(1, false).withTimeout(Move.commandTime), | ||
| new ParallelCommandGroup( | ||
| new AutoIntakeIntake(), | ||
| new Move(1, false).withTimeout(Move.commandTime) | ||
| ) | ||
| ); | ||
| // Add your commands in the super() call, e.g. | ||
| // super(new FooCommand(), new BarCommand()); | ||
| } | ||
| } |
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