Merge branch 'ez-servo'

src/main/java/team/gif/robot/Robot.java

@@ -22,6 +22,7 @@
 //import team.gif.robot.commands.drivetrainPbot.DrivePracticeSwerve;
 import team.gif.robot.subsystems.Climber;
 import team.gif.robot.subsystems.Diagnostics;
+import team.gif.robot.subsystems.Flapper;
 import team.gif.robot.subsystems.Elevator;
 import team.gif.robot.subsystems.Shooter;
 import team.gif.robot.subsystems.SwerveDrivetrainMk4;
@@ -53,6 +54,7 @@ public class Robot extends TimedRobot {
     public static Shooter shooter;
     public static Climber climber;
     public static Elevator elevator;
+    public static Flapper flapper;
 
     // custom fields
     private boolean autoSchedulerOnHold;
@@ -84,7 +86,7 @@ public Robot() {
         oi = new OI();
         uiSmartDashboard = new UiSmartDashboard();
         pigeon.addToShuffleboard("Heading");
-
+        flapper = new Flapper(RobotMap.SERVO_PORT_ID);
         shooter.setDefaultCommand(new StageCoral());
 
         // Add a second periodic function to remove non-essential updates from the main scheduler
@@ -143,6 +145,9 @@ public void autonomousInit() {
             autoSchedulerOnHold = true;
         }
 
+        //drops servo at start of match
+        flapper.setDown();
+
     }
 
     /** This function is called periodically during autonomous. */
@@ -172,6 +177,8 @@ public void teleopInit() {
         //-compressor.enableDigital();
         compressor.disable();
         climber.setPistonIn();
+
+        flapper.setDown();
     }
 
     /** This function is called periodically during operator control. */

src/main/java/team/gif/robot/RobotMap.java

@@ -44,6 +44,7 @@ public abstract class RobotMap {
     //Shooter
     public static final int SHOOTER_MOTOR_ID = 41;
     public static final int INDEXER_MOTOR_ID = 42;
+    public static final int SERVO_PORT_ID = 0;
 
     public static final int INDEXER_GP_SENSOR_PORT = 0;
     public static final int EXIT_GP_SENSOR_PORT = 1;

src/main/java/team/gif/robot/subsystems/Flapper.java

@@ -0,0 +1,20 @@
+// 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 team.gif.robot.subsystems;
+
+import edu.wpi.first.wpilibj.Servo;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Flapper extends SubsystemBase {
+    private static Servo servo;
+
+    public Flapper(int port) {
+        servo = new Servo(port);
+    }
+
+    public void setDown() {
+        servo.set(1.0);
+    }
+}