Shooter commands #8
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| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.commands.Shoot; | ||
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| public class BoxShot extends Shoot { | ||
| protected static final double DEFAULT_BOXSHOT_SPEED = 0.0; // TODO: Untested variables | ||
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| /** | ||
| * Run the Shoot command for a box shot. | ||
| * | ||
| * | ||
| * @param indexer The indexer subsystem | ||
| * @param shooter The shooter subsystem | ||
| * @param speed The target speed of the flywheel | ||
| */ | ||
| public BoxShot() { | ||
| super(DEFAULT_BOXSHOT_SPEED); | ||
| setName("BoxShot"); | ||
| } | ||
| } |
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| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import org.usfirst.frc4904.standard.commands.solenoid.SolenoidExtend; | ||
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| public class CloseIndexer extends SolenoidExtend { | ||
| /** | ||
| * Retract the indexer solenoid to close the indexer flippers. | ||
| * | ||
| * @param indexer The indexer to manipulate | ||
| */ | ||
| public CloseIndexer() { | ||
| super("CloseIndexer", RobotMap.Component.indexer.flippers); | ||
| } | ||
| } |
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| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import org.usfirst.frc4904.standard.commands.solenoid.SolenoidExtend; | ||
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| public class ExtendIntake extends SolenoidExtend { | ||
| /** | ||
| * Extend the intake solenoid to deploy the intake rollers. | ||
| */ | ||
| public ExtendIntake() { | ||
| super("ExtendIntake", RobotMap.Component.intake.solenoid); | ||
| } | ||
| } |
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| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import org.usfirst.frc4904.standard.commands.motor.MotorVelocitySet; | ||
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| public class FlywheelMaintainSpeed extends MotorVelocitySet { | ||
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| /** | ||
| * Spin up the flywheel to a speed | ||
| * | ||
| * @param flywheel The flywheel to manipulate | ||
| * @param speed The speed to spin the flywheel up to | ||
| */ | ||
| public FlywheelMaintainSpeed(double speed) { | ||
| super("FlywheelMaintainSpeed", RobotMap.Component.flywheel, speed); | ||
| //addRequirements(RobotMap.Component.flywheelMotorA, RobotMap.Component.flywheelMotorB); | ||
| } | ||
| } |
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| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.subsystems.Flywheel; | ||
| import edu.wpi.first.wpilibj2.command.CommandBase; | ||
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| public class FlywheelSpinDown extends CommandBase { | ||
|
There was a problem hiding this comment. should this also be a There was a problem hiding this comment. No, because it should just set the speed of the motor 0 (we don't actually care if the motor has some excess speed, so long as it slowly approaches 0). |
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| public static final double IDLE_SPEED = 0.0; | ||
| protected final Flywheel flywheel; | ||
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| /** | ||
| * Spin down the flywheel | ||
| * | ||
| * @param flywheel The flywheel to manipulate | ||
| */ | ||
| public FlywheelSpinDown(Flywheel flywheel) { | ||
| super(); | ||
| setName("FlywheelSpinDown"); | ||
| addRequirements(flywheel); | ||
| this.flywheel = flywheel; | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| super.initialize(); | ||
| flywheel.disableMotionController(); | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
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| flywheel.set(IDLE_SPEED); | ||
| } | ||
| } | ||
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| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import org.usfirst.frc4904.standard.commands.RunUntil; | ||
| import org.usfirst.frc4904.standard.commands.motor.MotorConstant; | ||
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| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
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| public class FlywheelSpinUp extends SequentialCommandGroup { | ||
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| public static final double DEFAULT_FLYWHEEL_SPEED = 0.0; // TODO: This is an untested value | ||
| public static final double THRESHOLD = 0.0; | ||
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| /** | ||
| * Spin up the flywheel to a speed | ||
| * | ||
| * @param flywheel The flywheel to manipulate | ||
| * @param speed The speed to spin the flywheel up to | ||
| */ | ||
| public FlywheelSpinUp(double speed) { | ||
| // smartdashboard.getNumber(“setpoint”, 0) | ||
| super(new RunUntil("FlywheelSpinUp", new MotorConstant(RobotMap.Component.flywheel, speed), () -> { | ||
|
There was a problem hiding this comment. it should be speed times feedfoward, not just raw speed |
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| return Math.abs(RobotMap.Component.shooter.flywheel.getTargetSpeed() - speed) < THRESHOLD | ||
| || RobotMap.Component.shooter.flywheel.getTargetSpeed() > speed; | ||
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There was a problem hiding this comment. there should also be a |
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| }), new FlywheelMaintainSpeed(speed)); | ||
| addRequirements(RobotMap.Component.flywheelMotorA, RobotMap.Component.flywheelMotorB); | ||
| } | ||
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| /** | ||
| * Spin up the flywheel to the default speed | ||
| * | ||
| * @param flywheel The flywheel to manipulate | ||
| */ | ||
| public FlywheelSpinUp() { | ||
| this(DEFAULT_FLYWHEEL_SPEED); | ||
| } | ||
| } | ||
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| @@ -0,0 +1,24 @@ | ||
| package org.usfirst.frc4904.robot.commands; | ||
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| import org.usfirst.frc4904.robot.RobotMap; | ||
| import org.usfirst.frc4904.standard.commands.motor.MotorConstant; | ||
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| /** | ||
| * Goes to the lower limit and zeroes | ||
| */ | ||
| public class HoodZeroConstant extends MotorConstant { | ||
| public final static double DEFAULT_SPEED = 0; | ||
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| public HoodZeroConstant() { | ||
| super("HoodZeroConstant", RobotMap.Component.hood.getServo(), DEFAULT_SPEED); | ||
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| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| super.end(interrupted); | ||
| if (!interrupted) { | ||
| RobotMap.Component.hood.setLimit(); | ||
| } | ||
| } | ||
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| } | ||
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No hood encoder—we'll use the encoder that's built into the falcon that's driving the hood.