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Merge pull request #15 from LakeEffectRobotics/intake
Intake
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| // 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; | ||
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| import edu.wpi.first.wpilibj2.command.SequentialCommandGroup; | ||
| import frc.robot.subsystems.Arm; | ||
| import frc.robot.subsystems.Wrist; | ||
| import frc.robot.subsystems.Arm.ArmExtension; | ||
| import frc.robot.subsystems.Arm.ArmPosition; | ||
| import frc.robot.subsystems.Wrist.WristPosition; | ||
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| // NOTE: Consider using this command inline, rather than writing a subclass. For more | ||
| // information, see: | ||
| // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html | ||
| public class AmpCommandGroup extends SequentialCommandGroup { | ||
| /** Creates a new IntakeCommandGroup. */ | ||
| public AmpCommandGroup(Wrist wrist, Arm arm) { | ||
| // Add your commands in the addCommands() call, e.g. | ||
| // addCommands(new FooCommand(), new BarCommand()); | ||
| addCommands(new WristCommand(wrist, WristPosition.UP), | ||
| new RotateArmCommand(arm,ArmPosition.AMP), | ||
| new ExtendArmCommand(arm, ArmExtension.RETRACT), | ||
| new WristCommand(wrist, WristPosition.DOWN) | ||
| ); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,21 @@ | ||
| package frc.robot.commands; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.Claw; | ||
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| public class ClawCommand extends Command { | ||
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| Claw claw; | ||
| double speed; | ||
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| public ClawCommand(Claw claw, double speed) { | ||
| this.claw = claw; | ||
| this.speed = speed; | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| claw.setOutput(speed); | ||
| } | ||
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| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,41 @@ | ||
| package frc.robot.commands; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.Arm; | ||
| import frc.robot.subsystems.Arm.ArmExtension; | ||
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| public class ExtendArmCommand extends Command { | ||
| Arm arm; | ||
| ArmExtension extend; | ||
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| public ExtendArmCommand(Arm arm,Arm.ArmExtension extend) { | ||
| this.arm = arm; | ||
| this.extend = extend; | ||
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| } | ||
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| @Override | ||
| public void initialize(){ | ||
| if(extend == ArmExtension.EXTEND){ | ||
| arm.extendArm(); | ||
| }else{ | ||
| arm.retractArm(); | ||
| } | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
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| } | ||
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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 arm.inPosition(); | ||
| } | ||
| } |
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