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Merge pull request #10 from 4201VitruvianBots/sw-bot-testing
Swerve Code works
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,46 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package frc.robot.commands; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.CommandSwerveDrivetrain; | ||
| import frc.robot.subsystems.Controls; | ||
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| /* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */ | ||
| public class ResetGyro extends Command { | ||
| /** Creates a new ResetGyro. */ | ||
| private final CommandSwerveDrivetrain m_swerveDrive; | ||
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| public ResetGyro(CommandSwerveDrivetrain swervedrive) { | ||
| m_swerveDrive = swervedrive; | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
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| addRequirements(m_swerveDrive); | ||
| } | ||
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| if (Controls.isRedAlliance()) { | ||
| m_swerveDrive.resetGyro(0); | ||
| } else { | ||
| m_swerveDrive.resetGyro(180); | ||
| } | ||
| } | ||
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() {} | ||
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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() { | ||
| return true; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,33 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package frc.robot.subsystems; | ||
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| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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| public class Controls extends SubsystemBase { | ||
| private CommandSwerveDrivetrain m_swervedrive; | ||
| private static DriverStation.Alliance m_allianceColor = DriverStation.Alliance.Red; | ||
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| /** Creates a new Controls. */ | ||
| public Controls() {} | ||
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| public static DriverStation.Alliance getAllianceColor() { | ||
| return m_allianceColor; | ||
| } | ||
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| public static boolean isRedAlliance() { | ||
| return (m_allianceColor == DriverStation.Alliance.Red); | ||
| } | ||
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| public static boolean isBlueAlliance() { | ||
| return (m_allianceColor == DriverStation.Alliance.Blue); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
| } | ||
| } |