Adamfixeditforyou

src/Commands/Acquisition/AcquisitionIn.cpp

@@ -1,9 +1,7 @@
 #include "AcquisitionIn.h"
 
 AcquisitionIn::AcquisitionIn() {
-	// Use Requires() here to declare subsystem dependencies
-	// eg. Requires(Robot::chassis.get());
-	Requires(Robot::storage.get());
+	Requires(Robot::acquisition.get());
 }
 
 // Called just before this Command runs the first time
@@ -13,9 +11,8 @@ void AcquisitionIn::Initialize() {
 
 // Called repeatedly when this Command is scheduled to run
 void AcquisitionIn::Execute() {
-	Robot::acquisition->Intake();
-	Robot::storage->MoveStorage(0.2);
-	Robot::storage->SetGatePosition(true);
+	//Robot::acquisition->Intake();
+	//Robot::acquisition->LowerArm();
 }
 
 // Make this return true when this Command no longer needs to run execute()
@@ -25,7 +22,8 @@ bool AcquisitionIn::IsFinished() {
 
 // Called once after isFinished returns true
 void AcquisitionIn::End() {
-
+	//Robot::acquisition->Stop();
+	//Robot::acquisition->RaiseArm();
 }
 
 // Called when another command which requires one or more of the same

src/Commands/Acquisition/ToggleHopper.cpp

@@ -0,0 +1,35 @@
+#include "ToggleHopper.h"
+
+ToggleHopper::ToggleHopper() {
+}
+
+// Called just before this Command runs the first time
+void ToggleHopper::Initialize() {
+
+}
+
+// Called repeatedly when this Command is scheduled to run
+void ToggleHopper::Execute() {
+	if(RobotMap::doorPiston->Get() == true) {
+		Robot::acquisition->CloseHopper();
+	}
+	else
+	{
+		Robot::acquisition->OpenHopper();
+	}
+}
+
+// Make this return true when this Command no longer needs to run execute()
+bool ToggleHopper::IsFinished() {
+	return true;
+}
+
+// Called once after isFinished returns true
+void ToggleHopper::End() {
+}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void ToggleHopper::Interrupted() {
+
+}

src/Commands/Acquisition/ToggleHopper.h

@@ -0,0 +1,24 @@
+/*
+ * ToggleHopper.h
+ *
+ *  Created on: Feb 21, 2017
+ *      Author: adnew
+ */
+
+#ifndef SRC_COMMANDS_ACQUISITION_TOGGLEHOPPER_H_
+#define SRC_COMMANDS_ACQUISITION_TOGGLEHOPPER_H_
+
+#include "../../CommandBase.h"
+#include "../../Robot.h"
+
+class ToggleHopper: public CommandBase {
+public:
+	ToggleHopper();
+	void Initialize() override;
+	void Execute() override;
+	bool IsFinished() override;
+	void End() override;
+	void Interrupted() override;
+};
+
+#endif /* SRC_COMMANDS_ACQUISITION_TOGGLEHOPPER_H_ */

src/Commands/Auto/AutonomousCommand.h

@@ -14,7 +14,7 @@
 
 
 #include "Commands/Subsystem.h"
-#include "../Robot.h"
+#include "Robot.h"
 
 /**
  *

src/Commands/Drive/JoystickDrive.cpp

@@ -15,7 +15,6 @@ void JoystickDrive::Initialize() {
 
 // Called repeatedly when this Command is scheduled to run
 void JoystickDrive::Execute() {
-	printf("running");
 	Robot::drive->TankDrive(Robot::oi->GetYDriverL() * fabs(Robot::oi->GetYDriverL()), Robot::oi->GetYDriverR() * fabs(Robot::oi->GetYDriverR()), false);
 }
 

src/Commands/Drive/ShiftHigh.cpp

@@ -2,7 +2,6 @@
 
 ShiftHigh::ShiftHigh() {
 	// Use Requires() here to declare subsystem dependencies
-	Requires(Robot::drive.get());
 }
 
 // Called just before this Command runs the first time

src/Commands/Drive/ShiftLow.cpp

@@ -2,7 +2,6 @@
 
 ShiftLow::ShiftLow() {
 	// Use Requires() here to declare subsystem dependencies
-	Requires(Robot::drive.get());
 }
 
 // Called just before this Command runs the first time

src/Commands/Gear/GearIn.cpp

@@ -1,8 +1,7 @@
 #include "GearIn.h"
 
 GearIn::GearIn() {
-	// Use Requires() here to declare subsystem dependencies
-	// eg. Requires(Robot::chassis.get());
+	Requires(Robot::gear.get()); //Don't let controller confuse the robot by mashing both buttons
 }
 
 // Called just before this Command runs the first time

src/Commands/Gear/GearOut.cpp

@@ -1,8 +1,7 @@
 #include "GearOut.h"
 
 GearOut::GearOut() {
-	// Use Requires() here to declare subsystem dependencies
-	// eg. Requires(Robot::chassis.get());
+	Requires(Robot::gear.get()); //Don't let controller confuse the robot by mashing both buttons
 }
 
 // Called just before this Command runs the first time

src/Commands/Shooter/FireBallsHigh.cpp

@@ -0,0 +1,37 @@
+#include <Commands/Shooter/FireBallsHigh.h>
+
+FireBallsHigh::FireBallsHigh() {
+	// Use Requires() here to declare subsystem dependencies
+	// eg. Requires(Robot::chassis.get());
+}
+
+// Called just before this Command runs the first time
+void FireBallsHigh::Initialize() {
+
+}
+
+// Called repeatedly when this Command is scheduled to run
+void FireBallsHigh::Execute() {
+	Robot::shooter->SetAngle(true);
+	if (Robot::shooter->UpToSpeed()) //Is the shooter up to speed?
+		Robot::shooter->SetGatePosition(false); //TODO make the shooter alternate sides while held
+	else
+		Robot::shooter->SetGatePosition(true);
+}
+
+// Make this return true when this Command no longer needs to run execute()
+bool FireBallsHigh::IsFinished() {
+	return false;
+}
+
+// Called once after isFinished returns true
+void FireBallsHigh::End() {
+	Robot::shooter->SetGatePosition(true);
+}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void FireBallsHigh::Interrupted() {
+
+}
+

src/Commands/Shooter/FireBallsHigh.h

@@ -0,0 +1,24 @@
+/*
+ * FireBallsHigh.h
+ *
+ *  Created on: Feb 19, 2017
+ *      Author: adnew
+ */
+
+#ifndef SRC_COMMANDS_SHOOTER_FIREBALLSHIGH_H_
+#define SRC_COMMANDS_SHOOTER_FIREBALLSHIGH_H_
+
+#include "../../CommandBase.h"
+#include "../../Robot.h"
+class FireBallsHigh: public Command {
+public:
+	FireBallsHigh();
+	void Initialize() override;
+	void Execute() override;
+	bool IsFinished() override;
+	void End() override;
+	void Interrupted() override;
+};
+
+
+#endif /* SRC_COMMANDS_SHOOTER_FIREBALLSHIGH_H_ */

src/Commands/Shooter/FireBallsLow.cpp

@@ -0,0 +1,37 @@
+#include <Commands/Shooter/FireBallsLow.h>
+
+FireBallsLow::FireBallsLow() {
+	// Use Requires() here to declare subsystem dependencies
+	// eg. Requires(Robot::chassis.get());
+}
+
+// Called just before this Command runs the first time
+void FireBallsLow::Initialize() {
+
+}
+
+// Called repeatedly when this Command is scheduled to run
+void FireBallsLow::Execute() {
+	Robot::shooter->SetAngle(false);
+	if (Robot::shooter->UpToSpeed()) //Is the shooter up to speed?
+		Robot::shooter->SetGatePosition(false); //TODO make the shooter alternate sides while held
+	else
+		Robot::shooter->SetGatePosition(true);
+}
+
+// Make this return true when this Command no longer needs to run execute()
+bool FireBallsLow::IsFinished() {
+	return false;
+}
+
+// Called once after isFinished returns true
+void FireBallsLow::End() {
+	Robot::shooter->SetGatePosition(true);
+}
+
+// Called when another command which requires one or more of the same
+// subsystems is scheduled to run
+void FireBallsLow::Interrupted() {
+
+}
+

src/Commands/Shooter/FireBallsLow.h

@@ -0,0 +1,24 @@
+/*
+ * FireBallsLow.h
+ *
+ *  Created on: Feb 19, 2017
+ *      Author: adnew
+ */
+
+#ifndef SRC_COMMANDS_SHOOTER_FIREBALLSLOW_H_
+#define SRC_COMMANDS_SHOOTER_FIREBALLSLOW_H_
+
+#include "../../CommandBase.h"
+#include "../../Robot.h"
+class FireBallsLow: public Command {
+public:
+	FireBallsLow();
+	void Initialize() override;
+	void Execute() override;
+	bool IsFinished() override;
+	void End() override;
+	void Interrupted() override;
+};
+
+
+#endif /* SRC_COMMANDS_SHOOTER_FIREBALLS_H_ */

src/Commands/Shooter/RunShooter.cpp

@@ -12,7 +12,7 @@ void RunShooter::Initialize() {
 
 // Called repeatedly when this Command is scheduled to run
 void RunShooter::Execute() {
-	if (!Robot::shooter->IsRunning())
+	if (!Robot::shooter->IsRunning()) //Toggle the shooter flywheel
 		Robot::shooter->RunFlywheel(GetDesiredSpeed());
 	else
 		Robot::shooter->RunFlywheel(0);

src/Commands/Storage/RunStorage.cpp

@@ -1,9 +1,9 @@
 #include "RunStorage.h"
-#define SHOOTER_ACCEPTABLE_ERROR 50
 
 RunStorage::RunStorage() {
 	// Use Requires() here to declare subsystem dependencies
 	// eg. Requires(Robot::chassis.get());
+	Requires(Robot::storage.get());
 }
 
 // Called just before this Command runs the first time
@@ -13,11 +13,12 @@ void RunStorage::Initialize() {
 
 // Called repeatedly when this Command is scheduled to run
 void RunStorage::Execute() {
-	if (fabs(Robot::shooter->GetFlywheelSpeed() - RunShooter::GetDesiredSpeed()) < SHOOTER_ACCEPTABLE_ERROR){
+	//Either Acquisition is running or the shooter is sunning and ready to fire
+	if (Robot::oi->GetAcquisition() || (Robot::oi->GetFiring() && Robot::shooter->UpToSpeed())){
 		Robot::storage->MoveStorage(0.2);
-	}
-	else
+	} else {
 		Robot::storage->MoveStorage(0.0);
+	}
 }
 
 // Make this return true when this Command no longer needs to run execute()

src/Commands/Storage/RunStorage.h

@@ -3,6 +3,7 @@
 
 #include <Commands/Shooter/RunShooter.h>
 #include "../../CommandBase.h"
+#include "Robot.h"
 
 class RunStorage: public Command {
 public:

src/OI.cpp

@@ -1,10 +1,13 @@
+#include <Commands/Shooter/FireBallsHigh.h>
+#include <Commands/Shooter/FireBallsLow.h>
 #include <Commands/Shooter/RunShooter.h>
 #include <Commands/Shooter/RunVisionShooter.h>
 #include "OI.h"
 
 #include <WPILib.h>
 #include "Robot.h"
 #include "Commands/Acquisition/AcquisitionIn.h"
+#include "Commands/Acquisition/ToggleHopper.h"
 #include "Commands/Climbing/StartClimber.h"
 #include "Commands/Climbing/StopClimber.h"
 #include "Commands/Drive/ShiftHigh.h"
@@ -14,7 +17,6 @@
 #include "Commands/Storage/RunStorage.h"
 #include "Commands/Shooter/RunShooter.h"
 
-
 bool OI::controllerLeft;
 
 OI::OI(){
@@ -52,10 +54,10 @@ void OI::MapButtons(){
 	driveShiftHighGear.reset(new JoystickButton(driverR.get(), SHIFT_HIGH_GEAR));
 	driveShiftHighGear->WhenPressed(new ShiftHigh());
 
-	drivePTOOn.reset(new JoystickButton(controllerR.get(), SHIFT_PTO_ON));
+	drivePTOOn.reset(new JoystickButton(driverR.get(), SHIFT_PTO_ON));
 	drivePTOOn->WhenPressed(new StartClimber());
 
-	drivePTOOff.reset(new JoystickButton(controllerL.get(), SHIFT_PTO_OFF));
+	drivePTOOff.reset(new JoystickButton(driverL.get(), SHIFT_PTO_OFF));
 	drivePTOOff->WhenPressed(new StopClimber());
 
 	toggleShooter.reset(new JoystickButton(controllerL.get(), TOGGLE_SHOOTER));
@@ -64,9 +66,6 @@ void OI::MapButtons(){
 	toggleVisionShooter.reset(new JoystickButton(controllerL.get(), TOGGLE_VISION_SHOOTER));
 	toggleVisionShooter->WhenPressed(new RunVisionShooter());
 
-	storageFeedShooter.reset(new JoystickButton(controllerL.get(), STORAGE_FEED_SHOOTER));
-	storageFeedShooter->WhileHeld(new RunStorage());
-
 	extendGear.reset(new JoystickButton(controllerL.get(), EXTEND_GEAR));
 	extendGear->WhenPressed(new GearOut());
 
@@ -76,10 +75,17 @@ void OI::MapButtons(){
 	acqIn.reset(new JoystickButton(controllerL.get(), ACQ_IN));
 	acqIn->WhileHeld(new AcquisitionIn());
 
+	toggleHopper.reset(new JoystickButton(controllerL.get(), TOGGLE_HOPPER));
+	toggleHopper->WhenPressed(new ToggleHopper());
+
 	turnToBoiler.reset(new JoystickButton(driverR.get(), DRIVE_TO_BOILER));
 	turnToGear.reset(new JoystickButton(driverR.get(), DRIVE_TO_GEAR));
-	shooterAngleFar.reset(new JoystickButton(driverR.get(), SHOOTER_ANGLE_FAR));
-	shooterAngleShort.reset(new JoystickButton(driverR.get(), SHOOTER_ANGLE_SHORT));
+
+	shooterAngleFar.reset(new JoystickButton(controllerL.get(), SHOOT_FAR));
+	shooterAngleFar->WhileHeld(new FireBallsHigh());
+
+	shooterAngleShort.reset(new JoystickButton(controllerL.get(), SHOOT_SHORT));
+	shooterAngleShort->WhileHeld(new FireBallsLow());
 }
 
 double OI::GetYControllerL(){
@@ -109,3 +115,11 @@ double OI::GetYDriverR(){
 	else
 		return lJoystick2->GetY();
 }
+
+bool OI::GetAcquisition(){
+	return acqIn->Get();
+}
+
+bool OI::GetFiring(){
+	return shooterAngleFar->Get() || shooterAngleShort->Get();
+}