From 17f99e2c5ec2b2c6d133bf0b5cb1e60c3918755a Mon Sep 17 00:00:00 2001 From: EvanYap Date: Mon, 16 Nov 2015 21:22:52 -0800 Subject: [PATCH] add command to robot.java to actually run the LimitSwitchTest --- src/org/usfirst/frc3501/RiceCatRobot/Robot.java | 2 ++ .../RiceCatRobot/commands/LimitSwitchTest.java | 3 ++- .../RiceCatRobot/commands/MoveArmToLevel1.java | 10 +++++----- .../RiceCatRobot/commands/MoveArmToLevel2.java | 11 +++++------ .../RiceCatRobot/commands/MoveArmToLevel3.java | 12 ++++++------ .../usfirst/frc3501/RiceCatRobot/subsystems/Arm.java | 3 +++ 6 files changed, 23 insertions(+), 18 deletions(-) diff --git a/src/org/usfirst/frc3501/RiceCatRobot/Robot.java b/src/org/usfirst/frc3501/RiceCatRobot/Robot.java index 0e4d934..c65eac9 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/Robot.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/Robot.java @@ -1,5 +1,6 @@ package org.usfirst.frc3501.RiceCatRobot; +import org.usfirst.frc3501.RiceCatRobot.commands.LimitSwitchTest; import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm; import org.usfirst.frc3501.RiceCatRobot.subsystems.Claw; import org.usfirst.frc3501.RiceCatRobot.subsystems.DriveTrain; @@ -35,6 +36,7 @@ public class Robot extends IterativeRobot { public void teleopInit() { System.out.println("running teleopInit"); + Scheduler.getInstance().add(new LimitSwitchTest()); } public void teleopPeriodic() { diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/LimitSwitchTest.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/LimitSwitchTest.java index daedb3c..3350a83 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/commands/LimitSwitchTest.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/LimitSwitchTest.java @@ -4,7 +4,8 @@ import edu.wpi.first.wpilibj.command.CommandGroup; public class LimitSwitchTest extends CommandGroup { /** - * It is necessary for all commands to be used. From MoveArmToLevel1 - MoveArmToLevel3 + * It is necessary for all commands to be used. + * From MoveArmToLevel1 - MoveArmToLevel3 */ public LimitSwitchTest() { diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel1.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel1.java index 158a4be..c5cf68a 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel1.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel1.java @@ -1,26 +1,26 @@ package org.usfirst.frc3501.RiceCatRobot.commands; -import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm; +import org.usfirst.frc3501.RiceCatRobot.Robot; import edu.wpi.first.wpilibj.command.Command; public class MoveArmToLevel1 extends Command { - Arm arm; + double slowSpeed = 0.2; public MoveArmToLevel1() { - arm.setArmSpeeds(slowSpeed); + Robot.arm.setArmSpeeds(slowSpeed); } protected void initialize() { - arm.initializeCounters(); + Robot.arm.initializeCounters(); } protected void execute() { } protected boolean isFinished() { - return arm.isSwitch1Hit(); + return Robot.arm.isSwitch1Hit(); } protected void end() { diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel2.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel2.java index 4152739..2cd560c 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel2.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel2.java @@ -1,27 +1,26 @@ package org.usfirst.frc3501.RiceCatRobot.commands; -import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm; +import org.usfirst.frc3501.RiceCatRobot.Robot; import edu.wpi.first.wpilibj.command.Command; public class MoveArmToLevel2 extends Command { - Arm arm; double slowSpeed = 0.2; public MoveArmToLevel2() { - if(arm.getArmSpeed() == 0.0) { - arm.setArmSpeeds(slowSpeed); + if(Robot.arm.getArmSpeed() == 0.0) { + Robot.arm.setArmSpeeds(slowSpeed); } } protected void initialize() { - arm.initializeCounters(); + Robot.arm.initializeCounters(); } protected void execute() { } protected boolean isFinished() { - return arm.isSwitch2Hit(); + return Robot.arm.isSwitch2Hit(); } protected void end() { diff --git a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel3.java b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel3.java index d969dee..fbbf32a 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel3.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/commands/MoveArmToLevel3.java @@ -1,34 +1,34 @@ package org.usfirst.frc3501.RiceCatRobot.commands; +import org.usfirst.frc3501.RiceCatRobot.Robot; import org.usfirst.frc3501.RiceCatRobot.subsystems.Arm; import edu.wpi.first.wpilibj.command.Command; public class MoveArmToLevel3 extends Command { - Arm arm; double slowSpeed = 0.2; public MoveArmToLevel3() { - if (arm.getArmSpeed() == 0.0) { - arm.setArmSpeeds(slowSpeed); + if (Robot.arm.getArmSpeed() == 0.0) { + Robot.arm.setArmSpeeds(slowSpeed); } } protected void initialize() { - arm.initializeCounters(); + Robot.arm.initializeCounters(); } protected void execute() { } protected boolean isFinished() { - return arm.isSwitch3Hit(); + return Robot.arm.isSwitch3Hit(); } protected void end() { System.out.println("Robot arm has reached level 3"); - arm.stop(); + Robot.arm.stop(); } protected void interrupted() { diff --git a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java index a29262a..9aff8c1 100644 --- a/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java +++ b/src/org/usfirst/frc3501/RiceCatRobot/subsystems/Arm.java @@ -17,6 +17,9 @@ public class Arm extends Subsystem { public Arm() { left = new CANJaguar(RobotMap.ARM_LEFT); right = new CANJaguar(RobotMap.ARM_RIGHT); + + setDigitalInputValues(); + setCountersCorrespondingToSwitches(); } public void setDigitalInputValues() { -- 2.30.2