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45 changes: 45 additions & 0 deletions
45
src/main/java/frc/robot/commands/control/auto/AutoAimLockWrist.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,45 @@ | ||
| // 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.commands.control.auto; | ||
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| import edu.wpi.first.math.proto.Wpimath; | ||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.Wrist; | ||
| import frc.robot.util.Util; | ||
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| public class AutoAimLockWrist extends Command { | ||
| private final Wrist wrist; | ||
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| /** Creates a new AimLockWrist. */ | ||
| public AutoAimLockWrist(Wrist wrist) { | ||
| this.wrist = wrist; | ||
| addRequirements(wrist); | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| } | ||
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() {} | ||
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| double degrees = Util.getInterpolatedWristAngle(); | ||
| // TODO find actual values, prevent wrist collision when the elevator is all the way down. | ||
| if (degrees > 10.0 && degrees < 35.0) { | ||
| return; | ||
| } | ||
| wrist.setDegrees(degrees); | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) {} | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
55 changes: 55 additions & 0 deletions
55
src/main/java/frc/robot/commands/control/auto/AutoIdleShooter.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,55 @@ | ||
| // 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.commands.control.auto; | ||
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| import edu.wpi.first.math.filter.Debouncer; | ||
| import edu.wpi.first.math.filter.Debouncer.DebounceType; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.RobotContainer; | ||
| import frc.robot.constants.Constants; | ||
| import frc.robot.subsystems.Shooter; | ||
| import frc.robot.util.Util; | ||
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| public class AutoIdleShooter extends Command { | ||
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| private static final double VALID_SHOT_DEBOUNCE_TIME = 0.2; | ||
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| /** Creates a new IdleShooter. */ | ||
| private final Shooter shooter; | ||
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| // private final Debouncer validShotDebouncer; | ||
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| public AutoIdleShooter(Shooter shooter) { | ||
| addRequirements(shooter); | ||
| this.shooter = shooter; | ||
| // this.validShotDebouncer = new Debouncer(VALID_SHOT_DEBOUNCE_TIME, DebounceType.kFalling); | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| } | ||
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| } | ||
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| // if (shooter.isCenterBroken() && validShotDebouncer.calculate(Util.isValidShot(SPEAKER_LIMELIGHT))) { | ||
| shooter.setRPMShoot(Constants.Shooter.SHOOTER_IDLE_RPM_CLOSE); | ||
| // } else { | ||
| // shooter.stopShooter(); | ||
| // } | ||
| } | ||
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) {} | ||
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
48 changes: 48 additions & 0 deletions
48
src/main/java/frc/robot/commands/control/auto/InstantShoot.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| // 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.commands.control.auto; | ||
|
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| import edu.wpi.first.math.filter.Debouncer; | ||
| import edu.wpi.first.math.filter.Debouncer.DebounceType; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.Shooter; | ||
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| public class InstantShoot extends Command { | ||
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| static private final double SHOT_DEBOUNCE_TIME = 0.06; | ||
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| private final Shooter m_shooter; | ||
| private Debouncer m_shotDebouncer; | ||
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| /** Creates a new InstantShoot. */ | ||
| public InstantShoot(final Shooter shooter) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| m_shooter = shooter; | ||
| } | ||
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| m_shotDebouncer = new Debouncer(SHOT_DEBOUNCE_TIME, DebounceType.kFalling); | ||
| } | ||
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| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| m_shooter.setFeederVoltage(8.0); | ||
| } | ||
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| m_shooter.stopFeeder(); | ||
| } | ||
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return !m_shotDebouncer.calculate(m_shooter.isCenterBroken()); | ||
| } | ||
| } |
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