Pipermech

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

@@ -4,9 +4,15 @@
 
 package frc.robot;
 
+import dev.doglog.DogLog;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.Constants.OperatorConstants;
+import frc.robot.subsystems.Piper;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 /**
  * The VM is configured to automatically run this class, and to call the functions corresponding to
@@ -18,6 +24,10 @@ public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
 
   private RobotContainer m_robotContainer;
+  private Piper m_piper = Piper.getInstance();
+
+  private final CommandXboxController m_driverController =
+      new CommandXboxController(OperatorConstants.kDriverControllerPort);
 
   /**
    * This function is run when the robot is first started up and should be used for any
@@ -28,6 +38,8 @@ public void robotInit() {
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();
+    // DogLog.setOptions(new DogLogOptions().withNtPublish(true).withCaptureDs(true).withLogExtras(true));
+
   }
 
   /**
@@ -81,7 +93,10 @@ public void teleopInit() {
 
   /** This function is called periodically during operator control. */
   @Override
-  public void teleopPeriodic() {}
+  public void teleopPeriodic() {
+    m_driverController.rightBumper().onTrue(new InstantCommand(() -> m_piper.increaseFF()));
+    m_driverController.leftBumper().onTrue(new InstantCommand(() -> m_piper.decreaseFF()));
+  }
 
   @Override
   public void testInit() {

src/main/java/frc/robot/RobotContainer.java

@@ -6,8 +6,9 @@
 
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.commands.Autos;
-import frc.robot.commands.ExampleCommand;
-import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.commands.Intake;
+import frc.robot.commands.Shooter;
+import frc.robot.subsystems.Piper;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -20,15 +21,19 @@
  */
 public class RobotContainer {
   // The robot's subsystems and commands are defined here...
-  private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
 
   // Replace with CommandPS4Controller or CommandJoystick if needed
   private final CommandXboxController m_driverController =
       new CommandXboxController(OperatorConstants.kDriverControllerPort);
 
+  private final Piper piper = Piper.getInstance();
+
+
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     // Configure the trigger bindings
+    m_driverController.rightTrigger().whileTrue(new Intake(piper));
+    m_driverController.leftTrigger().whileTrue(new Shooter(piper));
     configureBindings();
   }
 
@@ -43,12 +48,12 @@ public RobotContainer() {
    */
   private void configureBindings() {
     // Schedule `ExampleCommand` when `exampleCondition` changes to `true`
-    new Trigger(m_exampleSubsystem::exampleCondition)
-        .onTrue(new ExampleCommand(m_exampleSubsystem));
+    // new Trigger(m_exampleSubsystem::exampleCondition)
+    //     .onTrue(new ExampleCommand(m_exampleSubsystem));
 
-    // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
-    // cancelling on release.
-    m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
+    // // Schedule `exampleMethodCommand` when the Xbox controller's B button is pressed,
+    // // cancelling on release.
+    // m_driverController.b().whileTrue(m_exampleSubsystem.exampleMethodCommand());
   }
 
   /**
@@ -57,7 +62,8 @@ private void configureBindings() {
    * @return the command to run in autonomous
    */
   public Command getAutonomousCommand() {
+	return null;
     // An example command will be run in autonomous
-    return Autos.exampleAuto(m_exampleSubsystem);
+    // return Autos.exampleAuto(m_exampleSubsystem);
   }
 }

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

@@ -4,15 +4,11 @@
 
 package frc.robot.commands;
 
-import frc.robot.subsystems.ExampleSubsystem;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 
 public final class Autos {
   /** Example static factory for an autonomous command. */
-  public static Command exampleAuto(ExampleSubsystem subsystem) {
-    return Commands.sequence(subsystem.exampleMethodCommand(), new ExampleCommand(subsystem));
-  }
 
   private Autos() {
     throw new UnsupportedOperationException("This is a utility class!");

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

@@ -0,0 +1,52 @@
+// 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;
+import frc.robot.subsystems.Piper;
+import dev.doglog.DogLog;
+import edu.wpi.first.wpilibj2.command.Command;
+
+/** An example command that uses an example subsystem. */
+public class Intake extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final Piper m_piper;
+
+  /**
+   * Creates a new ExampleCommand.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public Intake(Piper piper) {
+    m_piper = piper;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(piper);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double speed = 90;
+    //m_piper.spinShooter(speed);
+    m_piper.spinIntake(speed);
+    m_piper.spinPreShooter(speed);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_piper.stopIntake();
+    m_piper.stopPreShooter();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return m_piper.isNotesThere();
+  }
+}

src/main/java/frc/robot/commands/ExampleCommand.java → src/main/java/frc/robot/commands/PiperCommand.java

@@ -4,20 +4,20 @@
 
 package frc.robot.commands;
 
-import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.subsystems.Piper;
 import edu.wpi.first.wpilibj2.command.Command;
 
 /** An example command that uses an example subsystem. */
-public class ExampleCommand extends Command {
+public class PiperCommand extends Command {
   @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
-  private final ExampleSubsystem m_subsystem;
+  private final Piper m_subsystem;
 
   /**
    * Creates a new ExampleCommand.
    *
    * @param subsystem The subsystem used by this command.
    */
-  public ExampleCommand(ExampleSubsystem subsystem) {
+  public PiperCommand(Piper subsystem) {
     m_subsystem = subsystem;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(subsystem);

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

@@ -0,0 +1,51 @@
+// 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;
+import frc.robot.subsystems.Piper;
+import dev.doglog.DogLog;
+import edu.wpi.first.wpilibj2.command.Command;
+
+/** An example command that uses an example subsystem. */
+public class Shooter extends Command {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final Piper m_piper;
+
+  /**
+   * Creates a new ExampleCommand.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public Shooter(Piper piper) {
+    m_piper = piper;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(piper);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    double speed = 50;
+    m_piper.spinShooter(speed);
+    m_piper.spinPreShooter(speed/2);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_piper.stopShooter();
+    m_piper.stopPreShooter();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return !(m_piper.isNotesThere());
+  }
+}