Double solenoids

src/main/java/frc/robot/Robot.java

@@ -1,5 +1,7 @@
 package frc.robot;
 
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
@@ -10,31 +12,24 @@
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
   public static OI oi;
-  public static Motors motorOne;
-  public static Motors motorTwo;
-  public static Motors motorThree;
+  // exm:
   public static Motors motorOneAndThree;
 
-
-
   @Override
   public void robotInit() {
-    Robot.motorOne = new Motors(RobotMap.VICTOR_SP_1);
-    Robot.motorTwo = new Motors(RobotMap.VICTOR_SP_2);
-    Robot.motorThree = new Motors(RobotMap.VICTOR_SP_3);
-    Robot.motorOneAndThree = new Motors(RobotMap.VICTOR_SP_1, RobotMap.VICTOR_SP_3);
-    Robot.oi = new OI();
-
-    SmartDashboard.putData("move motors", new MoveMotors(motorOne, oi.getXboxController()::getY, () -> false));
+    RobotComponents.tslonright.setNeutralMode(NeutralMode.Coast);
+    RobotComponents.talonleft.setNeutralMode(NeutralMode.Coast);
+    motorOneAndThree = new Motors(RobotComponents.talonleft, RobotComponents.tslonright);
+    oi = new OI();
+
+    SmartDashboard.putData("move motors", new MoveMotors(motorOneAndThree, () -> -0.6, () -> false));
+    SmartDashboard.putData("stop motors", new MoveMotors(motorOneAndThree, () -> 0.0, () -> false));
   }
 
   @Override
   public void robotPeriodic() {
-    // Runs the Scheduler.  This is responsible for polling buttons, adding newly-scheduled
-    // commands, running already-scheduled commands, removing finished or interrupted commands,
-    // and running subsystem periodic() methods.  This must be called from the robot's periodic
-    // block in order for anything in the Command-based framework to work.
     CommandScheduler.getInstance().run();
+    SmartDashboard.putNumber("voltage", RobotComponents.talonleft.getStatorCurrent());
   }
 
   @Override

src/main/java/frc/robot/RobotComponents.java

@@ -0,0 +1,30 @@
+package frc.robot;
+
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.Talon;
+import edu.wpi.first.wpilibj.VictorSP;
+
+/**
+ * This class holds all the components of the robot.
+ */
+public class RobotComponents {
+
+    // public static final VictorSP VICTOR_SP_ONE = new VictorSP(RobotMap.VICTOR_SP_ONE);
+    // public static final VictorSP VICTOR_SP_TWO = new VictorSP(RobotMap.VICTOR_SP_TWO);
+    // public static final VictorSP VICTOR_SP_THREE = new VictorSP(RobotMap.VICTOR_SP_THREE);
+
+public static final WPI_TalonSRX talonleft = new WPI_TalonSRX(RobotMap.LEFT_TALON_SHOOTER);
+public static final WPI_TalonSRX tslonright = new WPI_TalonSRX(RobotMap.RIGHT_TALON_SHOOTER);
+
+/*
+    public static final DoubleSolenoid DOUBLE_SOLENOID_ONE = new DoubleSolenoid(RobotMap.DOUBLE_SOLENOID_ONE_CHANNEL_A,
+            RobotMap.DOUBLE_SOLENOID_ONE_CHANNEL_B);
+    public static final DoubleSolenoid DOUBLE_SOLENOID_TWO = new DoubleSolenoid(RobotMap.DOUBLE_SOLENOID_TWO_CHANNEL_A,
+            RobotMap.DOUBLE_SOLENOID_TWO_CHANNEL_B);
+    public static final DoubleSolenoid DOUBLE_SOLENOID_THREE = new DoubleSolenoid(
+            RobotMap.DOUBLE_SOLENOID_THREE_CHANNEL_A, RobotMap.DOUBLE_SOLENOID_THREE_CHANNEL_B);
+*/
+}

src/main/java/frc/robot/RobotMap.java

@@ -5,11 +5,19 @@
  */
 public class RobotMap {
 
-    public static final int VICTOR_SP_1 = 0;
-    public static final int VICTOR_SP_2 = 1;
-    public static final int VICTOR_SP_3 = 2;
-
-    public static final int DOUBLE_SOLENOID_1 = 3;
-    public static final int DOUBLE_SOLENOID_2 = 4;
-    public static final int DOUBLE_SOLENOID_3 = 5;
+    public static final int VICTOR_SP_ONE = 0;
+    public static final int VICTOR_SP_TWO = 1;
+    public static final int VICTOR_SP_THREE = 2;
+
+    public static final int LEFT_TALON_SHOOTER = 1;
+    public static final int RIGHT_TALON_SHOOTER = 2;
+
+    public static final int DOUBLE_SOLENOID_ONE_CHANNEL_A = 3;
+    public static final int DOUBLE_SOLENOID_ONE_CHANNEL_B = 4;
+
+    public static final int DOUBLE_SOLENOID_TWO_CHANNEL_A = 5;
+    public static final int DOUBLE_SOLENOID_TWO_CHANNEL_B = 6;
+
+    public static final int DOUBLE_SOLENOID_THREE_CHANNEL_A = 7;
+    public static final int DOUBLE_SOLENOID_THREE_CHANNEL_B = 2;
 }

src/main/java/frc/robot/commands/MoveMotors.java

@@ -14,7 +14,6 @@ public class MoveMotors extends CommandBase {
   Motors motors;
 
   public MoveMotors(Motors motors, Supplier<Double> power, Supplier<Boolean> isFinished) {
-    addRequirements(motors);
     this.power = power;
     this.motors = motors;
     this.isFinished = isFinished;

src/main/java/frc/robot/commands/SetSolenoids.java

@@ -0,0 +1,39 @@
+package frc.robot.commands;
+
+import java.util.function.Supplier;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.DoubleSolenoids;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+
+/** Creates a new SetSolenoids. */
+public class SetSolenoids extends CommandBase {
+  DoubleSolenoids doubleSolenoids;
+  Supplier<Value> value;
+  Supplier<Boolean> isFinished;
+
+  public SetSolenoids(DoubleSolenoids doubleSolenoids, Supplier<Value> value, Supplier<Boolean> isFinished) {
+    addRequirements(doubleSolenoids);
+    this.value = value;
+    this.doubleSolenoids = doubleSolenoids;
+    this.isFinished = isFinished;
+  }
+
+  @Override
+  public void initialize() {
+  }
+
+  @Override
+  public void execute() {
+    this.doubleSolenoids.setSolenoids(value.get());
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  @Override
+  public boolean isFinished() {
+    return this.isFinished.get();
+  }
+}

src/main/java/frc/robot/subsystems/DoubleSolenoids.java

@@ -1,19 +1,23 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-  /**
-   * Creates a new DoubleSolenoids.
-   */
+/** Creates a new DoubleSolenoids. */
 public class DoubleSolenoids extends SubsystemBase {
-  private int doubleSolenoids[];
+  DoubleSolenoid doubleSolenoids[];
 
-  public DoubleSolenoids(int... doubleSolenoids) {
-    for(int i = 0; i < doubleSolenoids.length; i++){
-    this.doubleSolenoids[i] = new DoubleSolenoid
+  public DoubleSolenoids(DoubleSolenoid... doubleSolenoids) {
+    for (int i = 0; i < doubleSolenoids.length; i++) {
+      this.doubleSolenoids[i] = doubleSolenoids[i];
     }
+  }
 
+  public void setSolenoids(Value value) {
+    for (DoubleSolenoid doubleSolenoid : this.doubleSolenoids) {
+      doubleSolenoid.set(value);
+    }
   }
 
   @Override

src/main/java/frc/robot/subsystems/Motors.java

@@ -1,39 +1,29 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
 package frc.robot.subsystems;
 
-import edu.wpi.first.wpilibj.VictorSP;
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-  /**
-   * Creates a new Motor, and hold all the functions of said motor.
-   */
+/**
+ * Creates a new Motor, and hold all the functions of said motor.
+ */
 public class Motors extends SubsystemBase {
-  VictorSP motors[];
+  private SpeedController motors[];
 
-  public Motors(int... motors) {
-    for (int i = 0; i < this.motors.length; i++) {
-      this.motors[i] = new VictorSP(motors[i]);
-    }
+  public Motors(SpeedController... motors) {
+    this.motors = motors;
   }
 
-  public Motors(){
+  public Motors(CommandBase command, SpeedController... motors) {
+    this(motors);
+    command.addRequirements(this);
+    setDefaultCommand(command);
   }
 
-  public void moveMotors(double power){
-    for (VictorSP victor : this.motors){
-    victor.set(power);
+  public void moveMotors(double power) {
+    for (SpeedController speedController : this.motors) {
+      speedController.set(power);
     }
   }
-
-  @Override
-  public void periodic() {
-    // This method will be called once per scheduler run
-  }
-
 }