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package org.usfirst.frc.team3695.robot.subsystems;
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import com.ctre.phoenix.motorcontrol.ControlMode;
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import com.ctre.phoenix.motorcontrol.can.TalonSRX;
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import edu.wpi.first.wpilibj.DigitalInput;
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import edu.wpi.first.wpilibj.Joystick;
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import edu.wpi.first.wpilibj.command.Subsystem;
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import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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import org.usfirst.frc.team3695.robot.Constants;
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import org.usfirst.frc.team3695.robot.Robot;
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import org.usfirst.frc.team3695.robot.commands.ManualCommandGrow;
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import org.usfirst.frc.team3695.robot.enumeration.Bot;
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import org.usfirst.frc.team3695.robot.enumeration.Position;
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import org.usfirst.frc.team3695.robot.util.Xbox;
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/** the big, metal pole */
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public class SubsystemMast extends Subsystem {
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private TalonSRX leftPinion;
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private TalonSRX rightPinion;
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private TalonSRX screw;
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DigitalInput lowerPinionLimit;
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DigitalInput upperPinionLimit;
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DigitalInput lowerScrewLimit;
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DigitalInput midScrewLimit;
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DigitalInput upperScrewLimit;
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private Boolean override;
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/** runs at robot boot */
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public void initDefaultCommand() {
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setDefaultCommand(new ManualCommandGrow()); }
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/** gives birth to the CANTalons */
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public SubsystemMast(){
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lowerPinionLimit = new DigitalInput(1);
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upperPinionLimit = new DigitalInput(2);
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lowerScrewLimit = new DigitalInput(3);
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upperScrewLimit = new DigitalInput(4);
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leftPinion = new TalonSRX(Constants.LEFT_PINION_MOTOR);
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rightPinion = new TalonSRX(Constants.RIGHT_PINION_MOTOR);
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screw = new TalonSRX(Constants.SCREW_MOTOR);
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voltage(leftPinion);
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voltage(rightPinion);
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voltage(screw);
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override = false;
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}
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public void setOverride(Boolean override) {
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this.override = override;
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}
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/** apply pinion motor invert */
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public static final double leftPinionate(double left) {
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Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.LEFT_PINION_MOTOR_INVERT : Constants.SWISS.LEFT_PINION_MOTOR_INVERT;
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return left * (invert ? -1.0 : 1.0);
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}
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/** apply screw motor invert */
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public static final double rightPinionate(double right) {
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Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.RIGHT_PINION_MOTOR_INVERT : Constants.SWISS.RIGHT_PINION_MOTOR_INVERT;
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return right * (invert ? -1.0 : 1.0);
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}
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public static final double screwify(double screw) {
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Boolean invert = Robot.bot == Bot.OOF ? Constants.OOF.SCREW_MOTOR_INVERT : Constants.SWISS.SCREW_MOTOR_INVERT;
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return screw * (invert ? -1.0 : 1.0);
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}
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/** raise the mast at RT-LR trigger speed */
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public void moveBySpeed(Joystick joy, double inhibitor) {
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double dualAction = Xbox.RT(joy) - Xbox.LT(joy);
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double screwSpeed = Xbox.LEFT_Y(joy) + dualAction;
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double pinionSpeed = Xbox.RIGHT_Y(joy) + dualAction;
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if (!lowerPinionLimit.get() && pinionSpeed > 0) { pinionSpeed = 0; }
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if (!upperPinionLimit.get() && pinionSpeed < 0) { pinionSpeed = 0; }
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if (!lowerScrewLimit.get() && screwSpeed > 0) { screwSpeed = 0; }
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if (!upperScrewLimit.get() && screwSpeed < 0) { screwSpeed = 0; }
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publishSwitches();
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if (!override) {
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leftPinion.set(ControlMode.PercentOutput, leftPinionate(pinionSpeed));
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rightPinion.set(ControlMode.PercentOutput, rightPinionate(pinionSpeed));
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screw.set(ControlMode.PercentOutput, inhibitor * screwify(screwSpeed));
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}
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}
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public Boolean dropIt() {
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if (lowerPinionLimit.get() && upperPinionLimit.get()) {
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leftPinion.set(ControlMode.PercentOutput, leftPinionate(-1));
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rightPinion.set(ControlMode.PercentOutput, rightPinionate(-1));
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} else {
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leftPinion.set(ControlMode.PercentOutput, 0);
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rightPinion.set(ControlMode.PercentOutput, 0);
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}
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if (lowerScrewLimit.get() && upperScrewLimit.get()) {
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screw.set(ControlMode.PercentOutput, screwify(1));
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} else {
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screw.set(ControlMode.PercentOutput, 0);
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}
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return (!lowerPinionLimit.get() || !upperPinionLimit.get()) && (!lowerScrewLimit.get() || !upperScrewLimit.get());
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}
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public void adjustPinion(Position direction){
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if (direction == Position.UP) {
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while (!upperPinionLimit.get()) {
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rightPinion.set(ControlMode.PercentOutput, rightPinionate(1));
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leftPinion.set(ControlMode.PercentOutput, leftPinionate(1));
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}
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} else if (direction == Position.DOWN) {
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while (!lowerPinionLimit.get()) {
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rightPinion.set(ControlMode.PercentOutput, rightPinionate(-1));
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leftPinion.set(ControlMode.PercentOutput, leftPinionate(-1));
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}
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}
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rightPinion.set(ControlMode.PercentOutput, rightPinionate(0));
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leftPinion.set(ControlMode.PercentOutput, leftPinionate(0));
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}
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public void adjustScrew(Position direction){
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if (direction == Position.UP){
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while (!upperScrewLimit.get()){
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screw.set(ControlMode.PercentOutput, screwify(1));
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}
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} else if (direction == Position.DOWN){
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while (!lowerScrewLimit.get()){
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screw.set(ControlMode.PercentOutput, screwify(-1));
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}
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}
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screw.set(ControlMode.PercentOutput, screwify(0));
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}
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public void publishSwitches() {
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SmartDashboard.putBoolean("Lower Screw", !lowerScrewLimit.get());
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SmartDashboard.putBoolean("Upper Screw", !upperScrewLimit.get());
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SmartDashboard.putBoolean("Lower Pinion", !lowerPinionLimit.get());
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SmartDashboard.putBoolean("Upper Pinion", !upperPinionLimit.get());
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}
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/** configures the voltage of each CANTalon */
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private void voltage(TalonSRX talon) {
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// talon.configNominalOutputVoltage(0f, 0f);
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// talon.configPeakOutputVoltage(12.0f, -12.0f);
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talon.enableCurrentLimit(true);
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talon.configContinuousCurrentLimit(60, 300);
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talon.configPeakCurrentDuration(500, 10);
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}
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}
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wh1ter0se /
PowerUp-2018
Loading history...
Using constants for hard-coded numbers is a best practice. A constant’s name can explain the rationale behind this magic number. It is also easier to find if you ever need to change it.