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Added a lot more buttons for 3 dif speaker, and climber
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47 changes: 47 additions & 0 deletions
47
src/main/java/org/carlmontrobotics/commands/armClimberDownPos.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| // 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 org.carlmontrobotics.commands; | ||
| import org.carlmontrobotics.subsystems.Arm; | ||
| import edu.wpi.first.math.trajectory.TrapezoidProfile; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
|
|
||
| public class armClimberDownPos extends Command { | ||
| /** Creates a new armPosAmp. */ | ||
| private Arm arm; | ||
| private Timer armProfileTimer = new Timer(); | ||
| public armClimberDownPos(Arm arm) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| this.arm = arm; | ||
| addRequirements(arm); | ||
| } | ||
|
|
||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| armProfileTimer.reset(); | ||
| armProfileTimer.start(); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| TrapezoidProfile.State setpoint = arm.calculateSetPoint(armProfileTimer.get(), arm.getCurrentArmState(), 6); | ||
| arm.COMBINE_PID_FF_TRAPEZOID(setpoint); | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| armProfileTimer.stop(); | ||
| armProfileTimer.reset(); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
47 changes: 47 additions & 0 deletions
47
src/main/java/org/carlmontrobotics/commands/armClimberUpPos.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| // 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 org.carlmontrobotics.commands; | ||
| import org.carlmontrobotics.subsystems.Arm; | ||
| import edu.wpi.first.math.trajectory.TrapezoidProfile; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
|
|
||
| public class armClimberUpPos extends Command { | ||
| /** Creates a new armPosAmp. */ | ||
| private Arm arm; | ||
| private Timer armProfileTimer = new Timer(); | ||
| public armClimberUpPos(Arm arm) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| this.arm = arm; | ||
| addRequirements(arm); | ||
| } | ||
|
|
||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| armProfileTimer.reset(); | ||
| armProfileTimer.start(); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| TrapezoidProfile.State setpoint = arm.calculateSetPoint(armProfileTimer.get(), arm.getCurrentArmState(), 5); | ||
| arm.COMBINE_PID_FF_TRAPEZOID(setpoint); | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| armProfileTimer.stop(); | ||
| armProfileTimer.reset(); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } |
48 changes: 48 additions & 0 deletions
48
src/main/java/org/carlmontrobotics/commands/armNextToSpeakerPos.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| // 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 org.carlmontrobotics.commands; | ||
| import org.carlmontrobotics.subsystems.Arm; | ||
| import edu.wpi.first.math.trajectory.TrapezoidProfile; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
|
|
||
| public class armNextToSpeakerPos extends Command { | ||
| /** Creates a new armPosAmp. */ | ||
| private Arm arm; | ||
| private Timer armProfileTimer = new Timer(); | ||
| public armNextToSpeakerPos(Arm arm) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| this.arm = arm; | ||
| addRequirements(arm); | ||
| } | ||
|
|
||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| armProfileTimer.reset(); | ||
| armProfileTimer.start(); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| TrapezoidProfile.State setpoint = arm.calculateSetPoint(armProfileTimer.get(), arm.getCurrentArmState(), 3); | ||
| arm.COMBINE_PID_FF_TRAPEZOID(setpoint); | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| armProfileTimer.stop(); | ||
| armProfileTimer.reset(); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } | ||
|
|
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48 changes: 48 additions & 0 deletions
48
src/main/java/org/carlmontrobotics/commands/armSafeZonePos.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,48 @@ | ||
| // 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 org.carlmontrobotics.commands; | ||
| import org.carlmontrobotics.subsystems.Arm; | ||
| import edu.wpi.first.math.trajectory.TrapezoidProfile; | ||
| import edu.wpi.first.wpilibj.Timer; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
|
|
||
| public class armSafeZonePos extends Command { | ||
| /** Creates a new armPosAmp. */ | ||
| private Arm arm; | ||
| private Timer armProfileTimer = new Timer(); | ||
| public armSafeZonePos(Arm arm) { | ||
| // Use addRequirements() here to declare subsystem dependencies. | ||
| this.arm = arm; | ||
| addRequirements(arm); | ||
| } | ||
|
|
||
| // Called when the command is initially scheduled. | ||
| @Override | ||
| public void initialize() { | ||
| armProfileTimer.reset(); | ||
| armProfileTimer.start(); | ||
| } | ||
|
|
||
| // Called every time the scheduler runs while the command is scheduled. | ||
| @Override | ||
| public void execute() { | ||
| TrapezoidProfile.State setpoint = arm.calculateSetPoint(armProfileTimer.get(), arm.getCurrentArmState(), 4); | ||
| arm.COMBINE_PID_FF_TRAPEZOID(setpoint); | ||
| } | ||
|
|
||
| // Called once the command ends or is interrupted. | ||
| @Override | ||
| public void end(boolean interrupted) { | ||
| armProfileTimer.stop(); | ||
| armProfileTimer.reset(); | ||
| } | ||
|
|
||
| // Returns true when the command should end. | ||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
| } | ||
|
|
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