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36 lines
1.2 KiB
Python
36 lines
1.2 KiB
Python
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#
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# Copyright (c) FIRST and other WPILib contributors.
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# Open Source Software; you can modify and/or share it under the terms of
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# the WPILib BSD license file in the root directory of this project.
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#
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from commands2 import Command, Subsystem
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from commands2.button import Trigger
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import wpilib
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from constants import StorageConstants
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class Storage(Subsystem):
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def __init__(self) -> None:
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"""Create a new Storage subsystem."""
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super().__init__()
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self.motor = wpilib.PWMSparkMax(StorageConstants.kMotorPort)
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self.ballSensor = wpilib.DigitalInput(StorageConstants.kBallSensorPort)
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# Expose trigger from subsystem to improve readability and ease
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# inter-subsystem communications
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# Whether the ball storage is full.
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self.hasCargo = Trigger(self.ballSensor.get)
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# Set default command to turn off the storage motor and then idle
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self.setDefaultCommand(
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self.runOnce(self.motor.disable)
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.andThen(self.run(lambda: None))
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.withName("Idle")
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)
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def runCommand(self) -> Command:
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"""Returns a command that runs the storage motor indefinitely."""
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return self.run(lambda: self.motor.set(1)).withName("run")
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