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Merge pull request #2 from FIRST-Team-2557-The-SOTABots/dev
Final 2020 Code
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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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|
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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); | ||
| } | ||
|
|
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
| package frc.robot.commands; | ||
|
|
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| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
| import edu.wpi.first.wpilibj2.command.RunCommand; | ||
| import frc.robot.RobotContainer; | ||
| import frc.robot.subsystems.FlywheelSub; | ||
| import frc.robot.subsystems.IntakeSub; | ||
|
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| public class AutoShootIntake extends CommandBase { | ||
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| boolean runConveyor = false; | ||
| boolean finalBall = false; | ||
| int numBall = 0; | ||
| boolean shoot; | ||
| boolean intaking; | ||
| boolean startTimer = false; | ||
| double tim = 0; | ||
| Timer t = new Timer(); | ||
| public static boolean finished = false; | ||
|
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| public AutoShootIntake(boolean intaking) { | ||
| addRequirements(RobotContainer.intakeSub, RobotContainer.flywheelSub); | ||
| this.intaking = intaking; | ||
| } | ||
|
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| @Override | ||
| public void initialize() { | ||
| t.reset(); | ||
| shoot = false; | ||
| countBalls = 0; | ||
| finished = false; | ||
| RobotContainer.intakeSub.intakeIn(); | ||
| } | ||
|
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| @Override | ||
| public void execute() { | ||
| System.out.println("Intaking: " + intaking); | ||
| if(!intaking){ | ||
| RobotContainer.flywheelSub.spinFlywheels(1); | ||
| if(RobotContainer.flywheelSub.getFlywheelSpeed() > 16000) {//16000 | ||
| shoot = true; | ||
| if(!startTimer){ | ||
| t.start(); | ||
| startTimer = true; | ||
| tim = DriverStation.getInstance().getMatchTime(); | ||
| } | ||
| } | ||
|
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| if(shoot){ | ||
| RobotContainer.intakeSub.runConveyorAndCPM(IntakeSub.starWheelAndCPMSpeed); | ||
| RobotContainer.intakeSub.runTurretFeeder(IntakeSub.conveyorMotorSpeed); | ||
| } | ||
| }else{ | ||
| RobotContainer.intakeSub.intakeOut(); | ||
| RobotContainer.intakeSub.runIntake(IntakeSub.intakeSpeed); | ||
| } | ||
| if(t.get() != 0){ | ||
| System.out.println("Timer is: " + t.get()); | ||
| } | ||
|
|
||
| } | ||
|
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| @Override | ||
| public void end(boolean interrupted) { | ||
| RobotContainer.intakeSub.runConveyorAndCPM(0); | ||
| RobotContainer.intakeSub.runTurretFeeder(0); | ||
| RobotContainer.intakeSub.intakeOut(); | ||
| finished = true; | ||
| } | ||
|
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||
| @Override | ||
| public boolean isFinished() { | ||
| return countBalls()>=3 || t.get()>5 || DriverStation.getInstance().getMatchTime()-tim > 5; | ||
| } | ||
|
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| int countBalls = 0; | ||
| boolean prevTrue = false; | ||
| public int countBalls(){ | ||
| if(!prevTrue && RobotContainer.touchThree.get()){ | ||
| countBalls++; | ||
| } | ||
|
|
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| if(!RobotContainer.touchThree.get()) prevTrue = false; | ||
| else prevTrue = true; | ||
|
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| System.out.println("counting: " + countBalls); | ||
| System.out.println("prevTrue: " + prevTrue); | ||
| return countBalls; | ||
| } | ||
| } |
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