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Merge pull request #7 from MOERobotics/houston
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,51 @@ | ||
| package frc.robot.commands; | ||
|
|
||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.CollectorSubsystem; | ||
|
|
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| public class Intake extends Command { | ||
| private final double speed; | ||
| private CollectorSubsystem collector; | ||
| public Intake(CollectorSubsystem collector, double speed){ | ||
| this.collector=collector; | ||
| this.speed=speed; | ||
| } | ||
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|
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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 finalSpeed = 0; | ||
| if(speed<0){ | ||
| finalSpeed=speed; | ||
| } | ||
| if (speed>0 && !collector.isCollected()) { //collecting in, we have no note | ||
| finalSpeed = speed; | ||
| } | ||
| collector.updateCollectorSpeed(finalSpeed); | ||
| SmartDashboard.putBoolean("started collector", collector.getCollectorState()); | ||
| SmartDashboard.putNumber("collector speed", finalSpeed); | ||
| } | ||
|
|
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| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| collector.stopCollector(); | ||
| } | ||
|
|
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| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| if(collector.isCollected()){ | ||
| return true; | ||
| } | ||
| return false; | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| package frc.robot.commands; | ||
|
|
||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.CollectorSubsystem; | ||
|
|
||
| public class PopNote extends Command { | ||
| private final double speed; | ||
| private Timer timer; | ||
|
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| private CollectorSubsystem collector; | ||
| public PopNote(CollectorSubsystem collector, double speed){ | ||
| this.collector=collector; | ||
| this.speed=speed; | ||
| timer = new Timer(); | ||
| } | ||
|
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||
|
|
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| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| timer.restart(); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| double finalSpeed = -speed; | ||
| collector.updateCollectorSpeed(finalSpeed); | ||
| SmartDashboard.putBoolean("started collector", collector.getCollectorState()); | ||
| SmartDashboard.putNumber("collector speed", finalSpeed); | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| collector.stopCollector(); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| if(timer.get() >= .1 || !collector.isCollected()){ | ||
| return true; | ||
| } else { | ||
| return false; | ||
| } | ||
| } | ||
| } |
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