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Intake #1
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Intake #1
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package frc.robot; | ||||||||||||||||
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import com.ctre.phoenix.motorcontrol.ControlMode; | ||||||||||||||||
import com.ctre.phoenix.motorcontrol.can.TalonSRX; | ||||||||||||||||
import edu.wpi.first.wpilibj.Solenoid; | ||||||||||||||||
import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||||||||||||||||
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/** | ||||||||||||||||
* Add&named motors in Intake. | ||||||||||||||||
*/ | ||||||||||||||||
public class Intake extends SubsystemBase { | ||||||||||||||||
private TalonSRX motor = new TalonSRX(Ports.Intake.MOTOR); | ||||||||||||||||
private Solenoid piston = new Solenoid(Ports.Intake.SOLENOID); | ||||||||||||||||
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/** | ||||||||||||||||
* Add motor inverted. | ||||||||||||||||
* Add data of is Motor inverted | ||||||||||||||||
*/ | ||||||||||||||||
public Intake() { | ||||||||||||||||
motor.setInverted(Ports.Intake.IS_MOTOR_INVERTED); | ||||||||||||||||
} | ||||||||||||||||
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/** | ||||||||||||||||
* Set percentage for motor. | ||||||||||||||||
* @param power the speed times the torque. | ||||||||||||||||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. The units are simply % |
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*/ | ||||||||||||||||
public void powerWheels(double power) { | ||||||||||||||||
motor.set(ControlMode.PercentOutput, power); | ||||||||||||||||
} | ||||||||||||||||
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/** | ||||||||||||||||
* A check to see if piston is open or close, true= open, false= close. | ||||||||||||||||
* @return | ||||||||||||||||
*/ | ||||||||||||||||
public boolean isPistonEngaged() { | ||||||||||||||||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. As written above, it's better to name this function |
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return piston.get(); | ||||||||||||||||
} | ||||||||||||||||
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/** | ||||||||||||||||
* Set piston position. | ||||||||||||||||
* @param engaged | ||||||||||||||||
*/ | ||||||||||||||||
public void setPistonMode(boolean engaged) { | ||||||||||||||||
piston.set(engaged); | ||||||||||||||||
} | ||||||||||||||||
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/** | ||||||||||||||||
* Change piston position. | ||||||||||||||||
*/ | ||||||||||||||||
public void toggle() { | ||||||||||||||||
if (isPistonEngaged()) { | ||||||||||||||||
setPistonMode(false); | ||||||||||||||||
} else { | ||||||||||||||||
setPistonMode(true); | ||||||||||||||||
} | ||||||||||||||||
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} | ||||||||||||||||
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} | ||||||||||||||||
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Suggested change
No need for all these blank lines 🙂 |
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package frc.robot; | ||
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/** | ||
* Data of MOTOR & SOLENOID. | ||
* Data of boolean MOTOR inverted. | ||
*/ | ||
public class Ports { | ||
public static class Intake { | ||
public static final int MOTOR = 0; | ||
public static final int SOLENOID = 0; | ||
public static final boolean IS_MOTOR_INVERTED = true; | ||
} | ||
} |
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package frc.robot; | ||||||||||||||
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import com.revrobotics.ColorSensorV3; | ||||||||||||||
import edu.wpi.first.wpilibj.GenericHID; | ||||||||||||||
import edu.wpi.first.wpilibj.XboxController; | ||||||||||||||
import edu.wpi.first.wpilibj2.command.Command; | ||||||||||||||
import frc.robot.subsystems.ExampleSubsystem.ExampleSubsystem; | ||||||||||||||
import edu.wpi.first.wpilibj2.command.button.JoystickButton; | ||||||||||||||
import frc.robot.subsystems.intake.commands.Commandy; | ||||||||||||||
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/** | ||||||||||||||
* This class is where the bulk of the robot should be declared. Since Command-based is a | ||||||||||||||
* "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot} | ||||||||||||||
* periodic methods (other than the scheduler calls). Instead, the structure of the robot | ||||||||||||||
* (including subsystems, commands, and button mappings) should be declared here. | ||||||||||||||
*/ | ||||||||||||||
public class RobotContainer { | ||||||||||||||
public XboxController Xbox = new XboxController(1); | ||||||||||||||
public JoystickButton a = new JoystickButton(Xbox, XboxController.Button.kA.value); | ||||||||||||||
public JoystickButton b = new JoystickButton(Xbox, XboxController.Button.kB.value); | ||||||||||||||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more.
Suggested change
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. (Also, make them |
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private final Intake intake= new Intake(); | ||||||||||||||
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// The robot's subsystems and commands are defined here... | ||||||||||||||
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@@ -37,6 +45,7 @@ public RobotContainer() { | |||||||||||||
* {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}. | ||||||||||||||
*/ | ||||||||||||||
private void configureButtonBindings() { | ||||||||||||||
a.whileHeld(new Commandy(intake, Constants.Intake.POWER)); | ||||||||||||||
} | ||||||||||||||
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package frc.robot.subsystems.intake.commands; | ||
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import edu.wpi.first.wpilibj2.command.CommandBase; | ||
import frc.robot.Intake; | ||
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/** | ||
* Add Commandy function; | ||
*/ | ||
public class Commandy extends CommandBase { | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Add a command that only opens and closes the intake There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. Agreed, and add another command that powers the wheels. Then, if needed, combine both commands in a command group. |
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private final Intake intake; | ||
private final double power; | ||
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/** | ||
* Add Requirements | ||
* @param intake name to Intake. | ||
*/ | ||
public Commandy(Intake intake, double power) { | ||
this.intake = intake; | ||
this.power = power; | ||
addRequirements(intake); | ||
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} | ||
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@Override | ||
public void initialize() { | ||
super.initialize(); | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. No need for this call to public interface Command {
/** The initial subroutine of a command. Called once when the command is initially scheduled. */
default void initialize() {}
/** The main body of a command. Called repeatedly while the command is scheduled. */
default void execute() {}
/**
* The action to take when the command ends. Called when either the command finishes normally, or
* when it interrupted/canceled.
*
* <p>Do not schedule commands here that share requirements with this command. Use {@link
* #andThen(Command...)} instead.
*
* @param interrupted whether the command was interrupted/canceled
*/
default void end(boolean interrupted) {}
/**
* Whether the command has finished. Once a command finishes, the scheduler will call its end()
* method and un-schedule it.
*
* @return whether the command has finished.
*/
default boolean isFinished() {
return false;
} |
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intake.setPistonMode(false); | ||
} | ||
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@Override | ||
public void execute() { | ||
super.execute(); | ||
intake.powerWheels(power); | ||
} | ||
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@Override | ||
public boolean isFinished() { | ||
return super.isFinished(); | ||
} | ||
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@Override | ||
public void end(boolean interrupted) { | ||
super.end(interrupted); | ||
intake.powerWheels(0); | ||
// intake.setPistonMode(true); | ||
} | ||
} |
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package frc.robot.subsystems.intake.commands; | ||
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import edu.wpi.first.wpilibj2.command.CommandBase; | ||
import edu.wpi.first.wpilibj2.command.InstantCommand; | ||
import frc.robot.Intake; | ||
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public class ToggleIntake extends InstantCommand { | ||
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private Intake intake; | ||
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public ToggleIntake(Intake intake) { | ||
There was a problem hiding this comment. Choose a reason for hiding this commentThe reason will be displayed to describe this comment to others. Learn more. The should also move to specific state, not only toggle. |
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this.intake = intake; | ||
addRequirements(intake); | ||
} | ||
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@Override | ||
public void initialize() { | ||
super.initialize(); | ||
intake.toggle(); | ||
} | ||
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} |
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Better to call this "retractor" or something similar, so that it's clear what is the piston's purpose.