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Added intake, dump, and conveyor subsystems. These closely mirror those found on OakvilleDynamics/2024-Robot. Updated constants to reflect better names of some of the variables.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| // 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. | ||
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| package frc.robot.subsystems; | ||
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| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.CANSparkBase.IdleMode; | ||
| import com.revrobotics.CANSparkLowLevel.MotorType; | ||
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.Constants.MechanismConstants.Conveyor; | ||
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| public class ConveyorSubsystem extends SubsystemBase { | ||
| private final CANSparkMax conveyorMotorLeft = new CANSparkMax(Conveyor.CONVEYOR_MOTOR_LEFT, MotorType.kBrushless); | ||
| private final CANSparkMax conveyorMotorRight = new CANSparkMax(Conveyor.CONVEYOR_MOTOR_RIGHT, MotorType.kBrushless); | ||
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| public ConveyorSubsystem() { | ||
| conveyorMotorLeft.setInverted(Conveyor.CONVEYOR_MOTOR_LEFT_INVERTED); | ||
| conveyorMotorRight.setInverted(Conveyor.CONVEYOR_MOTOR_RIGHT_INVERTED); | ||
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| conveyorMotorLeft.setIdleMode(IdleMode.kBrake); | ||
| conveyorMotorRight.setIdleMode(IdleMode.kBrake); | ||
| } | ||
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| @Override | ||
| public void periodic() {} | ||
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| /** | ||
| * Run the conveyor at a set speed in the {@link Conveyor} class. | ||
| */ | ||
| public void runConveyor() { | ||
| conveyorMotorLeft.set(Conveyor.CONVEYOR_MOTOR_SPEED); | ||
| conveyorMotorRight.set(Conveyor.CONVEYOR_MOTOR_SPEED); | ||
| } | ||
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| /** | ||
| * Stop the conveyor. | ||
| */ | ||
| public void stopConveyor() { | ||
| conveyorMotorLeft.set(0); | ||
| conveyorMotorRight.set(0); | ||
| } | ||
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| /** | ||
| * Reverse the conveyor at a set speed in the {@link Conveyor} class. | ||
| */ | ||
| public void reverseConveyor() { | ||
| conveyorMotorLeft.set(-Conveyor.CONVEYOR_MOTOR_SPEED); | ||
| conveyorMotorRight.set(-Conveyor.CONVEYOR_MOTOR_SPEED); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| // 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. | ||
|
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| package frc.robot.subsystems; | ||
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| import edu.wpi.first.wpilibj.DoubleSolenoid; | ||
| import edu.wpi.first.wpilibj.PneumaticsModuleType; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.Constants.HardwareConstants; | ||
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| public class DumpSubsystem extends SubsystemBase { | ||
| private final DoubleSolenoid dumpSolenoid = new DoubleSolenoid(HardwareConstants.REV_PCM_ID, PneumaticsModuleType.REVPH, HardwareConstants.PneumaticsChannel.DUMP_OUT, HardwareConstants.PneumaticsChannel.DUMP_IN); | ||
| private boolean isDumped = false; | ||
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| public DumpSubsystem() { | ||
| SmartDashboard.putBoolean(getName(), isDumped); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| } | ||
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| /** | ||
| * Dumps the dump bed. | ||
| */ | ||
| public void dump() { | ||
| dumpSolenoid.set(DoubleSolenoid.Value.kForward); | ||
| isDumped = true; | ||
| SmartDashboard.putBoolean(getName(), isDumped); | ||
| } | ||
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| /** | ||
| * Retracts the dump bed. | ||
| */ | ||
| public void retract() { | ||
| dumpSolenoid.set(DoubleSolenoid.Value.kReverse); | ||
| isDumped = false; | ||
| SmartDashboard.putBoolean(getName(), isDumped); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,53 @@ | ||
| // 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.subsystems; | ||
|
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| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.CANSparkBase.IdleMode; | ||
| import com.revrobotics.CANSparkLowLevel.MotorType; | ||
| import frc.robot.Constants.MechanismConstants.Intake; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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| public class IntakeSubsystem extends SubsystemBase { | ||
| private final CANSparkMax intakeSushi = new CANSparkMax(Intake.INTAKE_SUSHI, MotorType.kBrushless); | ||
| private final CANSparkMax intakeFront = new CANSparkMax(Intake.INTAKE_FRONT, MotorType.kBrushless); | ||
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| public IntakeSubsystem() { | ||
| intakeSushi.setInverted(Intake.INTAKE_SUSHI_INVERTED); | ||
| intakeFront.setInverted(Intake.INTAKE_FRONT_INVERTED); | ||
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| intakeFront.setIdleMode(IdleMode.kBrake); | ||
| intakeSushi.setIdleMode(IdleMode.kBrake); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
| } | ||
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| /** | ||
| * Run the intake at a set speed in the {@link Intake} class. | ||
| */ | ||
| public void runIntake() { | ||
| intakeSushi.set(Intake.INTAKE_SUSHI_SPEED); | ||
| intakeFront.set(Intake.INTAKE_FRONT_SPEED); | ||
| } | ||
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| /** | ||
| * Stop the intake. | ||
| */ | ||
| public void stopIntake() { | ||
| intakeSushi.set(0); | ||
| intakeFront.set(0); | ||
| } | ||
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| /** | ||
| * Reverse the intake at a set speed in the {@link Intake} class. | ||
| */ | ||
| public void reverseIntake() { | ||
| intakeSushi.set(-Intake.INTAKE_SUSHI_SPEED); | ||
| intakeFront.set(-Intake.INTAKE_FRONT_SPEED); | ||
| } | ||
| } |
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