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package org.usfirst.frc.team3695.robot.subsystems;
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import org.usfirst.frc.team3695.robot.Constants;
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import org.usfirst.frc.team3695.robot.commands.ButtonCommandSpit;
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import org.usfirst.frc.team3695.robot.commands.ManualCommandDrive;
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import org.usfirst.frc.team3695.robot.commands.ManualCommandGrow;
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import org.usfirst.frc.team3695.robot.enumeration.Direction;
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import org.usfirst.frc.team3695.robot.util.Util;
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import org.usfirst.frc.team3695.robot.util.Xbox;
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import com.ctre.CANTalon;
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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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/** 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 Direction screwPos;
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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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midScrewLimit = new DigitalInput(4);
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upperScrewLimit = new DigitalInput(5);
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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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}
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/** apply pinion motor invert */
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public static final double leftPinionate(double left) {
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return left * (Constants.LEFT_PINION_MOTOR_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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return right * (Constants.RIGHT_PINION_MOTOR_INVERT ? -1.0 : 1.0);
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}
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public static final double screwify(double screw) {
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return screw * (Constants.SCREW_MOTOR_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) {
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double screwSpeed = Xbox.RT(joy) - Xbox.LT(joy);
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double pinionSpeed = Xbox.RT(joy) - Xbox.LT(joy);
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/**
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if (lowerScrewLimit.get() && screwSpeed < 0) { screwSpeed = 0; }
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if (upperScrewLimit.get() && screwSpeed > 1) { screwSpeed = 0; }
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if (lowerPinionLimit.get() && pinionSpeed < 0) { pinionSpeed = 0; }
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if (upperPinionLimit.get() && pinionSpeed > 1) { pinionSpeed = 0; }
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**/
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leftPinion.set(ControlMode.PercentOutput, leftPinionate(screwSpeed));
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rightPinion.set(ControlMode.PercentOutput, rightPinionate(screwSpeed));
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screw.set(ControlMode.PercentOutput, screwify(pinionSpeed));
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}
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public void goToMiddle() {
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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(35, 300);
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// configContinuousCurrentLimit spat mean errors
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// commented out for now, but we need to address it
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}
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100
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101
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102
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}
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103
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104
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wh1ter0se /
PowerUp-2018
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