Rt cancel #109
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,24 @@ | ||
| package frc.robot.commands.angler; | ||
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| import frc.robot.subsystems.AnglerSubsystem; | ||
| import frc.robot.utils.logging.commands.LoggableCommand; | ||
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| public class ResetAnglerEncoder extends LoggableCommand { | ||
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| private final AnglerSubsystem subsystem; | ||
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| public ResetAnglerEncoder(AnglerSubsystem subsystem) { | ||
| this.subsystem = subsystem; | ||
| addRequirements(subsystem); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| subsystem.resetEncoderToZero(); | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return true; | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,44 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
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Contributor
There was a problem hiding this comment. Why is this part of this PR? |
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| // 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.intakeDeployment; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import frc.robot.constants.Constants; | ||
| import frc.robot.subsystems.IntakeDeployerSubsystem; | ||
| import frc.robot.utils.logging.commands.LoggableCommand; | ||
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| public class InitialDeploymentState extends LoggableCommand { | ||
| private final IntakeDeployerSubsystem subsystem; | ||
| private final Timer timer; | ||
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| public InitialDeploymentState(IntakeDeployerSubsystem subsystem) { | ||
| timer = new Timer(); | ||
| this.subsystem = subsystem; | ||
| addRequirements(subsystem); | ||
| } | ||
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| @Override | ||
| public void initialize() { | ||
| timer.restart(); | ||
| } | ||
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| @Override | ||
| public void execute() { | ||
| switch (subsystem.getDeploymentState()) { | ||
| case UP -> subsystem.setSpeed(Constants.INITIAL_INTAKE_RETRACTION_SPEED); | ||
| case DOWN -> subsystem.setSpeed(Constants.INITIAL_INTAKE_DEPLOYMENT_SPEED); | ||
| case STOPPED -> subsystem.stopMotors(); | ||
| default -> subsystem.stopMotors(); | ||
| } | ||
| } | ||
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| @Override | ||
| public void end(boolean interrupted) { | ||
| } | ||
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| @Override | ||
| public boolean isFinished() { | ||
| return timer.hasElapsed(Constants.INTAKE_DEPLOYER_BURNOUT_TIMER); | ||
| } | ||
| } | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| package frc.robot.commands.sequences; | ||
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| import frc.robot.commands.angler.StowAngler; | ||
| import frc.robot.commands.climber.ClimberDown; | ||
| import frc.robot.commands.intakeDeployment.InitialDeploymentState; | ||
| import frc.robot.commands.intakeDeployment.SetDeploymentState; | ||
| import frc.robot.commands.shooter.SetShootingState; | ||
| import frc.robot.commands.shooter.StopShooter; | ||
| import frc.robot.commands.turret.RunTurretToRevLimit; | ||
| import frc.robot.constants.enums.DeploymentState; | ||
| import frc.robot.constants.enums.ShootingState; | ||
| import frc.robot.constants.enums.ShootingState.ShootState; | ||
| import frc.robot.subsystems.AnglerSubsystem; | ||
| import frc.robot.subsystems.ClimberSubsystem; | ||
| import frc.robot.subsystems.FeederSubsystem; | ||
| import frc.robot.subsystems.HopperSubsystem; | ||
| import frc.robot.subsystems.IntakeDeployerSubsystem; | ||
| import frc.robot.subsystems.IntakeSubsystem; | ||
| import frc.robot.subsystems.ShooterSubsystem; | ||
| import frc.robot.subsystems.TurretSubsystem; | ||
| import frc.robot.utils.logging.commands.LoggableParallelCommandGroup; | ||
| import frc.robot.utils.logging.commands.LoggableSequentialCommandGroup; | ||
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| public class ResetAll extends LoggableSequentialCommandGroup { | ||
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| public ResetAll(AnglerSubsystem anglerSubsystem, ClimberSubsystem climberSubsystem, | ||
| FeederSubsystem feederSubsystem, HopperSubsystem hopperSubsystem, | ||
| IntakeDeployerSubsystem intakeDeployerSubsystem, IntakeSubsystem intakeSubsystem, | ||
| ShooterSubsystem shooterSubsystem, TurretSubsystem turretSubsystem, ShootingState shootState) { | ||
| super( | ||
| new SetDeploymentState(intakeDeployerSubsystem, DeploymentState.UP), | ||
|
Contributor
There was a problem hiding this comment. the intake deployment mechanism changed, please talk to Jackson about what needs to be done here. |
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| new LoggableParallelCommandGroup( | ||
| new InitialDeploymentState(intakeDeployerSubsystem), | ||
| new StowAngler(anglerSubsystem), | ||
| new ClimberDown(climberSubsystem), | ||
| new SetShootingState(shootState, ShootState.STOPPED), | ||
| new RunTurretToRevLimit(turretSubsystem))); | ||
| } | ||
| } | ||
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I'm not sure why this was added, we don't want to use this because it doesn't move the mechanism to the bottom position. the correct command is stowAngler. this should be removed from the PR.