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Merge pull request #52 from frc5567/EmmaTest3/26/24
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Added separate methods for amp and speaker feed speeds
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@coverbeek
coverbeek committed Mar 27, 2024
2 parents 9b23a6f + 430c143 commit 4df991f
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Showing 4 changed files with 48 additions and 36 deletions.
54 changes: 27 additions & 27 deletions src/main/java/frc/robot/Auton.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -168,7 +168,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
System.out.println("Step feeding: " + m_step + " loopcount:" + m_loopCount + " - " + m_loopCount);
}
else {
Expand Down Expand Up @@ -248,7 +248,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -368,7 +368,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -488,7 +488,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -628,7 +628,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -698,7 +698,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -828,7 +828,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -896,7 +896,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -1021,7 +1021,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -1135,7 +1135,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
System.out.println("Step feeding: " + m_step + " loopcount:" + m_loopCount + " - " + m_loopCount);
}
else {
Expand Down Expand Up @@ -1198,7 +1198,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -1264,7 +1264,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -1375,7 +1375,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -1444,7 +1444,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -1566,7 +1566,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -1885,7 +1885,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
System.out.println("Step feeding: " + m_step + " loopcount:" + m_loopCount + " - " + m_loopCount);
}
else {
Expand Down Expand Up @@ -1948,7 +1948,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -2070,7 +2070,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -2124,7 +2124,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
System.out.println("Step feeding: " + m_step + " loopcount:" + m_loopCount + " - " + m_loopCount);
}
else {
Expand Down Expand Up @@ -2187,7 +2187,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -2309,7 +2309,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -2363,7 +2363,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
System.out.println("Step feeding: " + m_step + " loopcount:" + m_loopCount + " - " + m_loopCount);
}
else {
Expand Down Expand Up @@ -2426,7 +2426,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -2548,7 +2548,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -2645,7 +2645,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
System.out.println("Step feeding: " + m_step + " loopcount:" + m_loopCount + " - " + m_loopCount);
}
else {
Expand Down Expand Up @@ -2708,7 +2708,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down Expand Up @@ -2830,7 +2830,7 @@ public AutonInput periodic(Launcher launcher, Indexer indexer, Drivetrain drivet
else {
launcher.speakerLaunch();
if (m_loopCount > RobotMap.LAUNCH_SPIN_UP_COUNT){
indexer.feedNote();
indexer.speakerFeedNote();
}
else {
indexer.stop();
Expand Down
13 changes: 10 additions & 3 deletions src/main/java/frc/robot/Indexer.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -65,10 +65,17 @@ public boolean loadNote() {
}

/**
* Helper method used to feed the note the launcher. Feed speed is 1.0.
* Helper method used to feed the note the launcher at speaker speeds. Feed speed is 1.0.
*/
public void feedNote() {
setIndexSpeed(RobotMap.IndexerConstants.FEED_SPEED);
public void speakerFeedNote() {
setIndexSpeed(RobotMap.IndexerConstants.SPEAKER_FEED_SPEED);
}

/**
* Helper method used to feed the note the launcher at amp speeds. Feed speed is 0.8.
*/
public void ampFeedNote() {
setIndexSpeed(RobotMap.IndexerConstants.AMP_FEED_SPEED);
}

/**
Expand Down
8 changes: 4 additions & 4 deletions src/main/java/frc/robot/Robot.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -257,15 +257,15 @@ else if (lockClimbButton) {
// If we want to launch to the amp, set the launcher to amp speed and feed a note from the indexer.
if (ampLauncherOn) {
m_launcher.ampLaunch();
m_indexer.feedNote();
m_indexer.ampFeedNote();
}
// If we want to spin the launcher up to speed, set the launcher to speaker speed.
// Then when we want to launch, feed a note from the indexer.
else if (spinningUp) {
m_launcher.speakerLaunch();

if (speakerLauncherOn) {
m_indexer.feedNote();
m_indexer.speakerFeedNote();
}
else {
m_indexer.stop();
Expand All @@ -284,7 +284,7 @@ else if (spinningUp) {
// set the launcher to amp speed, feed a note from the the indexer, set the intake speed to 0, and set currentlyLaunching to true.
if (ampLauncherOn) {
m_launcher.ampLaunch();
m_indexer.feedNote();
m_indexer.ampFeedNote();
m_intake.stop();
m_currentlyLaunching = true;
}
Expand All @@ -295,7 +295,7 @@ else if (spinningUp) {
m_launcher.speakerLaunch();

if (speakerLauncherOn) {
m_indexer.feedNote();
m_indexer.speakerFeedNote();
}
else {
m_indexer.stop();
Expand Down
9 changes: 7 additions & 2 deletions src/main/java/frc/robot/RobotMap.java
View file
Original file line number Diff line number Diff line change
Expand Up @@ -247,9 +247,14 @@ public static class IndexerConstants {
public static final double LOAD_SPEED = 0.5;

/**
* Speed set to the index motor for feeding note into launcher.
* Speed set to the index motor for feeding note into launcher at speaker speeds.
*/
public static final double FEED_SPEED = 1.0;
public static final double SPEAKER_FEED_SPEED = 1.0;

/**
* Speed set to the index motor for feeding note into launcher at amp speeds.
*/
public static final double AMP_FEED_SPEED = 0.8;
}

/**
Expand Down

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