RPM changes for indexer, ramp, and shooter
This commit is contained in:
Team2890HawkCollective
@@ -1,94 +1,94 @@
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package frc.robot.subsystems;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import edu.wpi.first.wpilibj2.command.WaitCommand;
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import frc.robot.Constants;
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import com.revrobotics.spark.ClosedLoopSlot;
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import com.revrobotics.spark.SparkBase.PersistMode;
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import com.revrobotics.spark.SparkBase.ResetMode;
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import com.revrobotics.spark.SparkClosedLoopController;
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import com.revrobotics.spark.SparkFlex;
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import com.revrobotics.spark.SparkLowLevel.MotorType;
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import com.revrobotics.spark.config.SparkFlexConfig;
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import com.revrobotics.RelativeEncoder;
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import com.revrobotics.spark.SparkBase.ControlType;
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public class IntakeSubsystem extends SubsystemBase {
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private static SparkFlex intakeMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_ID,
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MotorType.kBrushless);
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private static SparkFlex intakeRotatorMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_ROTATOR_MOTOR_ID,
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MotorType.kBrushless);
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private static SparkClosedLoopController intakeRotatorPIDController;
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public static SparkFlexConfig intakeRotatorConfig = new SparkFlexConfig();
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public IntakeSubsystem() {
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intakeRotatorConfig.closedLoop.pid(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_P,
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Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_I,
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Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_D);
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intakeRotatorMotor.configure(intakeRotatorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
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com.revrobotics.PersistMode.kNoPersistParameters);
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intakeRotatorPIDController = intakeRotatorMotor.getClosedLoopController();
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}
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public void startIntakeMotor() {
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intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_SPEED);
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}
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public void reverseIntakeMotor() {
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intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_SPEED * -1);
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}
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public void stopIntakeMotor() {
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intakeMotor.set(0);
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}
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public Command startIntakeMotorCommand() {
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return runOnce(() -> startIntakeMotor());
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}
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public Command reverseIntakeMotorCommand() {
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return runOnce(() -> reverseIntakeMotor());
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}
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public Command stopIntakeMotorCommand() {
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return runOnce(() -> stopIntakeMotor());
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}
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public void deployIntake() {
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intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_COLLECT_ENCODER_VALUE,
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ControlType.kPosition);
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}
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public Command deployintakeCommand() {
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return runOnce(() -> deployIntake());
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}
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public void retractIntake() {
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intakeRotatorPIDController.setSetpoint(0, ControlType.kPosition);
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}
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public Command retractIntakeCommand() {
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return runOnce(() -> retractIntake());
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}
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public void assistFuelIntake() {
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intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_MIDDLE_ENCODER_VALUE,
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ControlType.kPosition);
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}
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public Command assistFuelIntakeCommand() {
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return runOnce(() -> assistFuelIntake()).andThen(new WaitCommand(2)).andThen(deployintakeCommand())
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.andThen(new WaitCommand(2));
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}
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@Override
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public void periodic() {
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SmartDashboard.putNumber("Intake Rotator Motor PID", intakeRotatorMotor.getEncoder().getPosition());
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}
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}
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package frc.robot.subsystems;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import edu.wpi.first.wpilibj2.command.WaitCommand;
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import frc.robot.Constants;
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import com.revrobotics.spark.ClosedLoopSlot;
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import com.revrobotics.spark.SparkBase.PersistMode;
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import com.revrobotics.spark.SparkBase.ResetMode;
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import com.revrobotics.spark.SparkClosedLoopController;
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import com.revrobotics.spark.SparkFlex;
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import com.revrobotics.spark.SparkLowLevel.MotorType;
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import com.revrobotics.spark.config.SparkFlexConfig;
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import com.revrobotics.RelativeEncoder;
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import com.revrobotics.spark.SparkBase.ControlType;
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public class IntakeSubsystem extends SubsystemBase {
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private static SparkFlex intakeMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_ID,
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MotorType.kBrushless);
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private static SparkFlex intakeRotatorMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_ROTATOR_MOTOR_ID,
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MotorType.kBrushless);
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private static SparkClosedLoopController intakeRotatorPIDController;
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public static SparkFlexConfig intakeRotatorConfig = new SparkFlexConfig();
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public IntakeSubsystem() {
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intakeRotatorConfig.closedLoop.pid(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_P,
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Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_I,
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Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_D);
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intakeRotatorMotor.configure(intakeRotatorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
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com.revrobotics.PersistMode.kNoPersistParameters);
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intakeRotatorPIDController = intakeRotatorMotor.getClosedLoopController();
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}
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public void startIntakeMotor() {
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intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM);
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}
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public void reverseIntakeMotor() {
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intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM * -1);
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}
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public void stopIntakeMotor() {
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intakeMotor.set(0);
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}
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public Command startIntakeMotorCommand() {
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return runOnce(() -> startIntakeMotor());
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}
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public Command reverseIntakeMotorCommand() {
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return runOnce(() -> reverseIntakeMotor());
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}
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public Command stopIntakeMotorCommand() {
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return runOnce(() -> stopIntakeMotor());
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}
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public void deployIntake() {
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intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_COLLECT_ENCODER_VALUE,
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ControlType.kPosition);
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}
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public Command deployintakeCommand() {
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return runOnce(() -> deployIntake());
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}
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public void retractIntake() {
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intakeRotatorPIDController.setSetpoint(0, ControlType.kPosition);
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}
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public Command retractIntakeCommand() {
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return runOnce(() -> retractIntake());
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}
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public void assistFuelIntake() {
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intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_MIDDLE_ENCODER_VALUE,
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ControlType.kPosition);
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}
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public Command assistFuelIntakeCommand() {
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return runOnce(() -> assistFuelIntake()).andThen(new WaitCommand(2)).andThen(deployintakeCommand())
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.andThen(new WaitCommand(2));
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}
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@Override
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public void periodic() {
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SmartDashboard.putNumber("Intake Rotator Motor PID", intakeRotatorMotor.getEncoder().getPosition());
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}
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}
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@@ -1,124 +1,168 @@
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package frc.robot.subsystems;
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import edu.wpi.first.wpilibj.DoubleSolenoid;
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import edu.wpi.first.wpilibj.PneumaticsModuleType;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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import java.util.function.BooleanSupplier;
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import com.ctre.phoenix6.controls.Follower;
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import com.revrobotics.RelativeEncoder;
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import com.revrobotics.spark.SparkBase.ControlType;
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import com.revrobotics.spark.SparkBase.PersistMode;
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import com.revrobotics.spark.SparkBase.ResetMode;
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import com.revrobotics.spark.SparkBase;
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import com.revrobotics.spark.SparkFlex;
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import com.revrobotics.spark.SparkMax;
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import com.revrobotics.spark.SparkLowLevel.MotorType;
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import com.revrobotics.spark.config.SparkFlexConfig;
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import com.revrobotics.spark.config.SparkBaseConfig;
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import edu.wpi.first.wpilibj2.command.WaitCommand;
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import frc.robot.LimelightHelpers;
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import edu.wpi.first.wpilibj.AnalogPotentiometer;
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public class ShooterSubsystem extends SubsystemBase {
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private static SparkFlex centerShooterMotor = new SparkFlex(Constants.ShooterConstants.CENTER_SHOOTER_MOTOR_ID,
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MotorType.kBrushless);
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private static SparkFlex leftShooterMotor = new SparkFlex(Constants.ShooterConstants.LEFT_SHOOTER_MOTOR_ID,
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MotorType.kBrushless);
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private static SparkFlex rightShooterMotor = new SparkFlex(Constants.ShooterConstants.RIGHT_SHOOTER_MOTOR_ID,
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MotorType.kBrushless);
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private static SparkFlex indexerMotor = new SparkFlex(Constants.ShooterConstants.INDEXER_MOTOR_ID,
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MotorType.kBrushless);
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//private static SparkMax leftActuatorMotor = new SparkMax(Constants.ShooterConstants.LEFT_ACTUATOR_PWM_PORT,
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// MotorType.kBrushless);
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//private static SparkMax rightActuatorMotor = new SparkMax(Constants.ShooterConstants.RIGHT_ACTUATOR_PWM_PORT,
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//MotorType.kBrushless);
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//private static AnalogPotentiometer leftPotentiometer = new AnalogPotentiometer(0, 1, 0);
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//private static AnalogPotentiometer rightPotentiometer = new AnalogPotentiometer(0, 1, 0);
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private static double currentPotentiometerPosition; // might need second value for the right potentiometer
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public void startShooterMotors() {
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centerShooterMotor.set(Constants.ShooterConstants.SHOOTER_POWER);
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leftShooterMotor.set(Constants.ShooterConstants.SHOOTER_POWER);
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rightShooterMotor.set(Constants.ShooterConstants.SHOOTER_POWER);
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}
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public double getShooterMotorVelocity() {
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return leftShooterMotor.getEncoder().getVelocity();
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}
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public void startIndexerMotor() {
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// if (LimelightHelpers.getTX("limelight") < 1.5 &&
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// LimelightHelpers.getTX("limelight") > -1.5) {
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indexerMotor.set(Constants.ShooterConstants.INDEXER_MOTOR_SPEED);
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// } else
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// indexerMotor.set(0);
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}
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/* public Command shootFuelCommand() {
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return run(() -> startShooterMotors())
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.until(() -> {
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return (getShooterMotorVelocity() >= Constants.ShooterConstants.SHOOTER_VELOCITY);
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})
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.andThen(() -> startIndexerMotor());
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} */
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public Command shootFuelCommand() {
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return runOnce(() -> startShooterMotors()).andThen(new WaitCommand(2))
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.andThen(() -> startIndexerMotor());
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};
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public void stopShooters() {
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centerShooterMotor.set(0);
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leftShooterMotor.set(0);
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rightShooterMotor.set(0);
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indexerMotor.set(0);
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}
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public Command stopShooterCommand() {
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return runOnce(() -> stopShooters());
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}
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public void moveActuator(double desiredPotentiometerPosition) {
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if (desiredPotentiometerPosition > currentPotentiometerPosition) {
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//TODO: Test for positive or negative power
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//leftActuatorMotor.set(0.1);
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//rightActuatorMotor.set(0.1);
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} else {
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//leftActuatorMotor.set(-0.1);
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//rightActuatorMotor.set(-0.1);
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}
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}
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public void stopActuator() {
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//leftActuatorMotor.set(0);
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//rightActuatorMotor.set(0);
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}
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public Command moveActuatorCommand(double desiredPotentiometerPosition) {
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return run(() -> moveActuator(desiredPotentiometerPosition))
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.until(() -> currentPotentiometerPosition == currentPotentiometerPosition)
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.andThen(() -> stopActuator());
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}
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@Override
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public void periodic() {
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/* SmartDashboard.putNumber("Left Potentiometer Distance", leftPotentiometer.get());
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SmartDashboard.putNumber("Right Potentiometer Distance", rightPotentiometer.get());
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currentPotentiometerPosition = leftPotentiometer.get(); */
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}
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}
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package frc.robot.subsystems;
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import edu.wpi.first.wpilibj.DoubleSolenoid;
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import edu.wpi.first.wpilibj.PneumaticsModuleType;
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import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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import java.util.function.BooleanSupplier;
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import com.ctre.phoenix6.controls.Follower;
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import com.revrobotics.RelativeEncoder;
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import com.revrobotics.spark.SparkBase.ControlType;
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import com.revrobotics.spark.SparkBase.PersistMode;
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import com.revrobotics.spark.SparkBase.ResetMode;
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import com.revrobotics.spark.SparkClosedLoopController;
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import com.revrobotics.spark.SparkBase;
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import com.revrobotics.spark.SparkFlex;
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import com.revrobotics.spark.SparkMax;
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import com.revrobotics.spark.SparkLowLevel.MotorType;
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import com.revrobotics.spark.config.SparkFlexConfig;
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import com.revrobotics.spark.config.SparkBaseConfig;
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import edu.wpi.first.wpilibj2.command.WaitCommand;
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import frc.robot.LimelightHelpers;
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import edu.wpi.first.wpilibj.AnalogPotentiometer;
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public class ShooterSubsystem extends SubsystemBase {
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private static SparkFlex centerShooterMotor = new SparkFlex(Constants.ShooterConstants.CENTER_SHOOTER_MOTOR_ID,
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MotorType.kBrushless);
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private static SparkFlex leftShooterMotor = new SparkFlex(Constants.ShooterConstants.LEFT_SHOOTER_MOTOR_ID,
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MotorType.kBrushless);
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private static SparkFlex rightShooterMotor = new SparkFlex(Constants.ShooterConstants.RIGHT_SHOOTER_MOTOR_ID,
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MotorType.kBrushless);
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private static SparkFlex indexerAndRampMotor = new SparkFlex(Constants.ShooterConstants.INDEXER_MOTOR_ID,
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MotorType.kBrushless);
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private static SparkClosedLoopController centerShooterMotorPIDController;
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public static SparkFlexConfig centerShooterMotorConfig = new SparkFlexConfig();
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private static SparkClosedLoopController leftShooterMotorPIDController;
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public static SparkFlexConfig leftShooterMotorConfig = new SparkFlexConfig();
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private static SparkClosedLoopController rightShooterMotorPIDController;
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public static SparkFlexConfig rightShooterMotorConfig = new SparkFlexConfig();
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private static SparkClosedLoopController indexerAndRampMotorPIDController;
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public static SparkFlexConfig indexerAndRampMotorConfig = new SparkFlexConfig();
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public ShooterSubsystem() {
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centerShooterMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
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Constants.ShooterConstants.SHOOTER_MOTOR_I,
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Constants.ShooterConstants.SHOOTER_MOTOR_D);
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centerShooterMotor.configure(centerShooterMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
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com.revrobotics.PersistMode.kNoPersistParameters);
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centerShooterMotorPIDController = centerShooterMotor.getClosedLoopController();
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leftShooterMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
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Constants.ShooterConstants.SHOOTER_MOTOR_I,
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Constants.ShooterConstants.SHOOTER_MOTOR_D);
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leftShooterMotor.configure(leftShooterMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
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com.revrobotics.PersistMode.kNoPersistParameters);
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leftShooterMotorPIDController = leftShooterMotor.getClosedLoopController();
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rightShooterMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
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Constants.ShooterConstants.SHOOTER_MOTOR_I,
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Constants.ShooterConstants.SHOOTER_MOTOR_D);
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rightShooterMotor.configure(rightShooterMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
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com.revrobotics.PersistMode.kNoPersistParameters);
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rightShooterMotorPIDController = rightShooterMotor.getClosedLoopController();
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indexerAndRampMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
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Constants.ShooterConstants.SHOOTER_MOTOR_I,
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Constants.ShooterConstants.SHOOTER_MOTOR_D);
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indexerAndRampMotor.configure(indexerAndRampMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
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com.revrobotics.PersistMode.kNoPersistParameters);
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indexerAndRampMotorPIDController = indexerAndRampMotor.getClosedLoopController();
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}
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||||
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||||
//private static SparkMax leftActuatorMotor = new SparkMax(Constants.ShooterConstants.LEFT_ACTUATOR_PWM_PORT,
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// MotorType.kBrushless);
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//private static SparkMax rightActuatorMotor = new SparkMax(Constants.ShooterConstants.RIGHT_ACTUATOR_PWM_PORT,
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//MotorType.kBrushless);
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||||
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//private static AnalogPotentiometer leftPotentiometer = new AnalogPotentiometer(0, 1, 0);
|
||||
//private static AnalogPotentiometer rightPotentiometer = new AnalogPotentiometer(0, 1, 0);
|
||||
|
||||
private static double currentPotentiometerPosition; // might need second value for the right potentiometer
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|
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public void setShooterMotorsRPM() {
|
||||
centerShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM,ControlType.kVelocity);
|
||||
leftShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM,ControlType.kVelocity);
|
||||
rightShooterMotorPIDController.setSetpoint(Constants.ShooterConstants.SHOOTER_RPM,ControlType.kVelocity);
|
||||
}
|
||||
|
||||
public double getShooterMotorRPM() {
|
||||
return leftShooterMotor.getEncoder().getVelocity();
|
||||
}
|
||||
|
||||
public void setIndexerAndRampMotorRPM() {
|
||||
// if (LimelightHelpers.getTX("limelight") < 1.5 &&
|
||||
// LimelightHelpers.getTX("limelight") > -1.5) {
|
||||
indexerAndRampMotorPIDController.setSetpoint(Constants.ShooterConstants.INDEXER_AND_RAMP_MOTOR_RPM, ControlType.kVelocity);
|
||||
// } else
|
||||
// indexerMotor.set(0);
|
||||
}
|
||||
|
||||
/* public Command shootFuelCommand() {
|
||||
return run(() -> startShooterMotors())
|
||||
.until(() -> {
|
||||
return (getShooterMotorVelocity() >= Constants.ShooterConstants.SHOOTER_VELOCITY);
|
||||
})
|
||||
.andThen(() -> startIndexerMotor());
|
||||
} */
|
||||
|
||||
|
||||
public Command shootFuelCommand() {
|
||||
return runOnce(() -> setShooterMotorsRPM()).andThen(new WaitCommand(2))
|
||||
.andThen(() -> setIndexerAndRampMotorRPM());
|
||||
};
|
||||
|
||||
|
||||
public void stopShooters() {
|
||||
centerShooterMotor.set(0);
|
||||
leftShooterMotor.set(0);
|
||||
rightShooterMotor.set(0);
|
||||
indexerAndRampMotor.set(0);
|
||||
}
|
||||
|
||||
public Command stopShooterCommand() {
|
||||
return runOnce(() -> stopShooters());
|
||||
}
|
||||
|
||||
public void moveActuator(double desiredPotentiometerPosition) {
|
||||
if (desiredPotentiometerPosition > currentPotentiometerPosition) {
|
||||
//TODO: Test for positive or negative power
|
||||
//leftActuatorMotor.set(0.1);
|
||||
//rightActuatorMotor.set(0.1);
|
||||
} else {
|
||||
//leftActuatorMotor.set(-0.1);
|
||||
//rightActuatorMotor.set(-0.1);
|
||||
}
|
||||
}
|
||||
|
||||
public void stopActuator() {
|
||||
//leftActuatorMotor.set(0);
|
||||
//rightActuatorMotor.set(0);
|
||||
}
|
||||
|
||||
public Command moveActuatorCommand(double desiredPotentiometerPosition) {
|
||||
return run(() -> moveActuator(desiredPotentiometerPosition))
|
||||
.until(() -> currentPotentiometerPosition == currentPotentiometerPosition)
|
||||
.andThen(() -> stopActuator());
|
||||
}
|
||||
|
||||
@Override
|
||||
public void periodic() {
|
||||
/* SmartDashboard.putNumber("Left Potentiometer Distance", leftPotentiometer.get());
|
||||
SmartDashboard.putNumber("Right Potentiometer Distance", rightPotentiometer.get());
|
||||
currentPotentiometerPosition = leftPotentiometer.get(); */
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user