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Drivetrain speeds changed, PID intensity altered
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,80 @@ | ||
| package com.team5430.util; | ||
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| import com.ctre.phoenix.motorcontrol.StickyFaults; | ||
| import com.ctre.phoenix.motorcontrol.can.TalonSRX; | ||
| import com.ctre.phoenix6.hardware.TalonFX; | ||
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| import edu.wpi.first.wpilibj2.command.WaitCommand; | ||
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| public class log { | ||
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| public log() { | ||
| } | ||
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| public void println(String printing) { | ||
| System.out.println(printing); | ||
| } | ||
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| public void motor(TalonSRX name) { | ||
| StickyFaults errors = new StickyFaults(); | ||
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| name.getStickyFaults(errors); | ||
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| String motorName = name.toString(); | ||
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| double startup = 0; | ||
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| if (errors.APIError == true) { | ||
| println(motorName + ": API Error, check firmware"); | ||
| } else if (errors.HardwareESDReset == true) { | ||
| println(motorName + ": Not used."); | ||
| } else if (errors.RemoteLossOfSignal == true) { | ||
| println(motorName + ": RemoteSensor lost conection."); | ||
| } else if (errors.ResetDuringEn == true) { | ||
| println(motorName + ": Has been turned on while enabled, or reset, please check wiring."); | ||
| } else if (errors.SensorOutOfPhase == true) { | ||
| println(motorName + ": Sensor is not aligned properly."); | ||
| } else if (errors.SensorOverflow == true) { | ||
| println(motorName + ": Sensor Overflow."); | ||
| } else if (errors.SupplyOverV == true) { | ||
| println(motorName + ": voltage is above rated voltage."); | ||
| } else if (errors.SupplyUnstable == true) { | ||
| println(motorName + ": voltage is fluctuating too much, check battery"); | ||
| } else if (errors.UnderVoltage == true) { | ||
| println(motorName + ": voltage is under 6.5V"); | ||
| } else if (errors.HardwareESDReset == false && startup >= 1) { | ||
| println(motorName + ": [✓]"); | ||
| startup++; | ||
| } | ||
| new WaitCommand(1); | ||
| } | ||
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| public void motor(TalonFX name) { | ||
| String motorName = name.toString(); | ||
| double startup = 0; | ||
| if (name.getStickyFault_ProcTemp().getValue() == true) { | ||
| println(motorName + ": Temperature exceeded limit."); | ||
| } else if (name.getStickyFault_MissingDifferentialFX().getValue() == true) { | ||
| println(motorName + ": Not used."); | ||
| } else if (name.getStickyFault_RemoteSensorDataInvalid().getValue() == true) { | ||
| println(motorName + ": RemoteSensor lost conection, data may not be accurate any"); | ||
| } else if (name.getStickyFault_Hardware().getValue() == true) { | ||
| println(motorName + ": Hardware fault occured."); | ||
| } else if (name.getStickyFault_FusedSensorOutOfSync().getValue() == true) { | ||
| println(motorName + ": Sensor is not in sync."); | ||
| } else if (name.getStickyFault_RemoteSensorPosOverflow().getValue() == true) { | ||
| println(motorName + ": Sensor Overflow."); | ||
| } else if (name.getStickyFault_OverSupplyV().getValue() == true) { | ||
| println(motorName + ": voltage is above rated voltage."); | ||
| } else if (name.getStickyFault_UnstableSupplyV().getValue() == true) { | ||
| println(motorName + ": voltage is fluctuating too much, check battery"); | ||
| } else if (name.getStickyFault_Undervoltage().getValue() == true) { | ||
| println(motorName + ": voltage is under 6.5V"); | ||
| } else if (name.getStickyFault_BootDuringEnable().getValue() == false && startup >= 1) { | ||
| println(motorName + ": [✓]"); | ||
| startup++; | ||
| } | ||
| new WaitCommand(1); | ||
| } | ||
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| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| package frc.robot.commands; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.driveTrain; | ||
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| public class DriveToDistance extends Command{ | ||
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| private driveTrain _drive; | ||
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| private double Inches; | ||
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| public DriveToDistance(driveTrain drive, double inches){ | ||
| _drive = drive; | ||
| addRequirements(_drive); | ||
| Inches = inches; | ||
| } | ||
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| @Override | ||
| public void initialize(){ | ||
| _drive.driveininches(Inches); | ||
| } | ||
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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 +1,42 @@ | ||
| package frc.robot.commands; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.intakeSub; | ||
| import frc.robot.subsystems.intakeSub.Value; | ||
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| public class IntakeNote extends Command { | ||
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| private intakeSub _intake; | ||
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| // require the intake subsystem to run this command | ||
| public IntakeNote(intakeSub intake) { | ||
| intake = _intake; | ||
| addRequirements(intake); | ||
| } | ||
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| // runs when command is called initally | ||
| @Override | ||
| public void initialize() { | ||
| new setPos(Value.FLOOR, _intake); | ||
| new IntakeSet(Value.INTAKE, _intake); | ||
| new TransversalSet(Value.INTAKE, _intake); | ||
| System.out.println("HELLO"); | ||
| } | ||
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| // Miguel was here | ||
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| // runs when command ends | ||
| @Override | ||
| public void end(boolean isFinished) { | ||
| new IntakeSet(Value.STOP, _intake); | ||
| new TransversalSet(Value.STOP, _intake); | ||
| new setPos(Value.SPEAKER, _intake); | ||
| } | ||
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| // tells scheduler that this command runs once* | ||
| @Override | ||
| public boolean isFinished() { | ||
| return true; | ||
| } | ||
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| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,18 @@ | ||
| package frc.robot.commands; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.intakeSub; | ||
| import frc.robot.subsystems.intakeSub.Value;; | ||
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| public class IntakeSet extends Command { | ||
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| private intakeSub _intake; | ||
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| // no intake required as to allow running at any point | ||
| public IntakeSet(final Value value, intakeSub intake) { | ||
| _intake = intake; | ||
| addRequirements(_intake); | ||
| _intake.intakeSet(value); | ||
| } | ||
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| } |
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