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Implement closed-loop driving, intaking, and shooting
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,60 @@ | ||
| // 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. | ||
|
|
||
| package frc.robot.commands; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.Constants; | ||
| import frc.robot.subsystems.flywheel.Flywheel; | ||
|
|
||
| // import frc.robot.subsystems.CANLauncher; | ||
|
|
||
| /*This is an example of creating a command as a class. The base Command class provides a set of methods that your command | ||
| * will override. | ||
| */ | ||
| public class IntakeNote extends Command { | ||
| Flywheel shooter; | ||
| Flywheel hopper; | ||
|
|
||
| // CANLauncher m_launcher; | ||
|
|
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| /** Creates a new LaunchNote. */ | ||
| public IntakeNote(Flywheel shooter, Flywheel hopper) { | ||
| // save the launcher system internally | ||
| this.shooter = shooter; | ||
| this.hopper = hopper; | ||
| } | ||
|
|
||
| // The initialize method is called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| // Set the wheels to launching speed | ||
| shooter.runVolts(Constants.INTAKE_SHOOTER_VOLTS); | ||
| hopper.runVolts(Constants.INTAKE_HOPPER_VOLTS); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| // There is nothing we need this command to do on each iteration. You could remove this method | ||
| // and the default blank method | ||
| // of the base class will run. | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| // Always return false so the command never ends on it's own. In this project we use the | ||
| // scheduler to end the command when the button is released. | ||
| return false; | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| // Stop the wheels when the command ends. | ||
| shooter.stop(); | ||
| hopper.stop(); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,62 @@ | ||
| // 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. | ||
|
|
||
| package frc.robot.commands; | ||
|
|
||
| import static frc.robot.Constants.*; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.Constants; | ||
| import frc.robot.subsystems.flywheel.Flywheel; | ||
|
|
||
| // import frc.robot.subsystems.CANLauncher; | ||
|
|
||
| /*This is an example of creating a command as a class. The base Command class provides a set of methods that your command | ||
| * will override. | ||
| */ | ||
| public class LaunchNote extends Command { | ||
| Flywheel shooter; | ||
| Flywheel hopper; | ||
|
|
||
| // CANLauncher m_launcher; | ||
|
|
||
| /** Creates a new LaunchNote. */ | ||
| public LaunchNote(Flywheel shooter, Flywheel hopper) { | ||
| // save the launcher system internally | ||
| this.shooter = shooter; | ||
| this.hopper = hopper; | ||
| } | ||
|
|
||
| // The initialize method is called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| // Set the wheels to launching speed | ||
| shooter.runVolts(Constants.LAUNCH_SHOOTER_VOLTS); | ||
| hopper.runVolts(Constants.LAUNCH_HOPPER_VOLTS); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| // There is nothing we need this command to do on each iteration. You could remove this method | ||
| // and the default blank method | ||
| // of the base class will run. | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| // Always return false so the command never ends on it's own. In this project we use the | ||
| // scheduler to end the command when the button is released. | ||
| return false; | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| // Stop the wheels when the command ends. | ||
| shooter.stop(); | ||
| hopper.stop(); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| // 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. | ||
|
|
||
| package frc.robot.commands; | ||
|
|
||
| import static frc.robot.Constants.*; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.flywheel.*; | ||
|
|
||
| // import frc.robot.subsystems.CANLauncher; | ||
|
|
||
| public class PrepareLaunch extends Command { | ||
| Flywheel shooter; | ||
| Flywheel hopper; | ||
|
|
||
| // CANLauncher m_launcher; | ||
|
|
||
| /** Creates a new PrepareLaunch. */ | ||
| public PrepareLaunch(Flywheel shooter, Flywheel hopper) { | ||
| this.shooter = shooter; | ||
| this.hopper = hopper; | ||
| } | ||
|
|
||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| // Set launch wheel to speed, keep feed wheel at 0 to let launch wheel spin up. | ||
| shooter.runVolts(12.0); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| // There is nothing we need this command to do on each iteration. You could remove this method | ||
| // and the default blank method | ||
| // of the base class will run. | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| // Do nothing when the command ends. The launch wheel needs to keep spinning in order to launch | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| // Always return false so the command never ends on it's own. In this project we use a timeout | ||
| // decorator on the command to end it. | ||
| return false; | ||
| } | ||
| } |
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