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I wrote code for incrreasing and decreasing shooting speed and added necessary consta...
author
Nadia Anees
<n.anees655@gmail.com>
Tue, 31 Jan 2017 04:14:33 +0000
(20:14 -0800)
committer
Cindy Zhang
<cindyzyx9@gmail.com>
Sat, 4 Feb 2017 19:02:25 +0000
(11:02 -0800)
src/org/usfirst/frc/team3501/robot/commands/shooter/DecreaseShootingSpeed.java
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src/org/usfirst/frc/team3501/robot/commands/shooter/IncreaseShootingSpeed.java
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src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
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src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
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src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
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diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/DecreaseShootingSpeed.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/DecreaseShootingSpeed.java
index 23ac1a82d3f0fcabeb53e8d9305f06ce89e4f4a0..3bd4efd7490e7462306cbe05fb75ebff63c15516 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/DecreaseShootingSpeed.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/DecreaseShootingSpeed.java
@@
-1,5
+1,8
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
package org.usfirst.frc.team3501.robot.commands.shooter;
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
@@
-10,35
+13,35
@@
import edu.wpi.first.wpilibj.command.Command;
* flywheel is run, it will run at the decreased shooting speed
*/
public class DecreaseShootingSpeed extends Command {
* flywheel is run, it will run at the decreased shooting speed
*/
public class DecreaseShootingSpeed extends Command {
+ private Shooter shooter = Robot.getShooter();
+
public DecreaseShootingSpeed() {
}
public DecreaseShootingSpeed() {
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
@Override
protected void initialize() {
+ shooter.CURRENT_SHOOTING_SPEED -= shooter.SHOOTING_SPEED_INCREMENT;
+
}
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
@Override
protected void execute() {
}
- // Called once after isFinished returns true
@Override
protected void end() {
}
@Override
protected void end() {
}
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
@Override
protected void interrupted() {
@Override
protected void interrupted() {
+ end();
}
@Override
protected boolean isFinished() {
}
@Override
protected boolean isFinished() {
- // TODO Auto-generated method stub
- return false;
+ return true;
+
}
}
}
}
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/IncreaseShootingSpeed.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/IncreaseShootingSpeed.java
index aeb74ec036beb37fd1f89af51bb0ec93c98e0eef..85bd3bd39dbedf9af5418853babcdb49edf7a4b4 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/IncreaseShootingSpeed.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/IncreaseShootingSpeed.java
@@
-1,5
+1,8
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
package org.usfirst.frc.team3501.robot.commands.shooter;
+import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
+
import edu.wpi.first.wpilibj.command.Command;
/**
import edu.wpi.first.wpilibj.command.Command;
/**
@@
-10,35
+13,34
@@
import edu.wpi.first.wpilibj.command.Command;
* flywheel is run, it will run at the increased shooting speed
*/
public class IncreaseShootingSpeed extends Command {
* flywheel is run, it will run at the increased shooting speed
*/
public class IncreaseShootingSpeed extends Command {
+ private Shooter shooter = Robot.getShooter();
+
public IncreaseShootingSpeed() {
}
public IncreaseShootingSpeed() {
}
- // Called just before this Command runs the first time
@Override
protected void initialize() {
@Override
protected void initialize() {
+ shooter.CURRENT_SHOOTING_SPEED += shooter.SHOOTING_SPEED_INCREMENT;
}
}
- // Called repeatedly when this Command is scheduled to run
@Override
protected void execute() {
}
@Override
protected void execute() {
}
- // Called once after isFinished returns true
@Override
protected void end() {
}
@Override
protected void end() {
}
- // Called when another command which requires one or more of the same
- // subsystems is scheduled to run
@Override
protected void interrupted() {
@Override
protected void interrupted() {
+ end();
}
@Override
protected boolean isFinished() {
}
@Override
protected boolean isFinished() {
- // TODO Auto-generated method stub
- return
fals
e;
+
+ return
tru
e;
}
}
}
}
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
index 203f9dce79a4eb3088eb1155e9e67dfa1fbac036..78506882140bd14c817d8f05014baa11018afb30 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunFlyWheel.java
@@
-1,6
+1,7
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.command.Command;
@@
-12,8
+13,8
@@
import edu.wpi.first.wpilibj.command.Command;
* @author Shaina
*/
public class RunFlyWheel extends Command {
* @author Shaina
*/
public class RunFlyWheel extends Command {
+ private Shooter shooter = Robot.getShooter();
Timer timer;
Timer timer;
- private double motorVal;
private double time;
/**
private double time;
/**
@@
-24,11
+25,10
@@
public class RunFlyWheel extends Command {
* @param time
* in seconds, amount of time to run fly wheel motor
*/
* @param time
* in seconds, amount of time to run fly wheel motor
*/
- public RunFlyWheel(double
motorVal, double
time) {
- requires(
Robot.getShooter()
);
+ public RunFlyWheel(double time) {
+ requires(
shooter
);
timer = new Timer();
timer = new Timer();
- this.motorVal = motorVal;
this.time = time;
}
this.time = time;
}
@@
-36,7
+36,7
@@
public class RunFlyWheel extends Command {
@Override
protected void initialize() {
timer.start();
@Override
protected void initialize() {
timer.start();
-
Robot.getShooter().setFlyWheelMotorVal(motorVal
);
+
shooter.setFlyWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED
);
}
// Called repeatedly when this Command is scheduled to run
}
// Called repeatedly when this Command is scheduled to run
@@
-47,7
+47,7
@@
public class RunFlyWheel extends Command {
// Called once after isFinished returns true
@Override
protected void end() {
// Called once after isFinished returns true
@Override
protected void end() {
-
Robot.getShooter()
.stopFlyWheel();
+
shooter
.stopFlyWheel();
}
// Called when another command which requires one or more of the same
}
// Called when another command which requires one or more of the same
diff --git
a/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
b/src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
index b4eed57abe0862ae574c3ad83a3279998f183745..1bf1c6f0c4941cba314eeff63030e066f345e557 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
+++ b/
src/org/usfirst/frc/team3501/robot/commands/shooter/RunIndexWheelContinuous.java
@@
-1,6
+1,7
@@
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
package org.usfirst.frc.team3501.robot.commands.shooter;
import org.usfirst.frc.team3501.robot.Robot;
+import org.usfirst.frc.team3501.robot.subsystems.Shooter;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Command;
@@
-17,7
+18,7
@@
import edu.wpi.first.wpilibj.command.Command;
* @author Shaina
*/
public class RunIndexWheelContinuous extends Command {
* @author Shaina
*/
public class RunIndexWheelContinuous extends Command {
- private
double motorVal
;
+ private
Shooter shooter = Robot.getShooter()
;
/**
* See JavaDoc comment in class for details
/**
* See JavaDoc comment in class for details
@@
-25,14
+26,14
@@
public class RunIndexWheelContinuous extends Command {
* @param motorVal
* value range from -1 to 1
*/
* @param motorVal
* value range from -1 to 1
*/
- public RunIndexWheelContinuous(
double motorVal
) {
- this.motorVal = motorVal;
+ public RunIndexWheelContinuous() {
+
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
}
// Called just before this Command runs the first time
@Override
protected void initialize() {
-
Robot.getShooter().setIndexWheelMotorVal(motorVal
);
+
shooter.setIndexWheelMotorVal(shooter.CURRENT_SHOOTING_SPEED
);
}
// Called repeatedly when this Command is scheduled to run
}
// Called repeatedly when this Command is scheduled to run
diff --git
a/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
b/src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
index 06073a791795c2be6c7aeccb781042bbba045fce..73c1b23282356686b7475b9ba8b21692c0753504 100644
(file)
--- a/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
+++ b/
src/org/usfirst/frc/team3501/robot/subsystems/Shooter.java
@@
-10,9
+10,15
@@
public class Shooter extends Subsystem {
private static Shooter shooter;
private final CANTalon flyWheel, indexWheel;
private static Shooter shooter;
private final CANTalon flyWheel, indexWheel;
+ public static final double DEFAULT_SHOOTING_SPEED = 0;
+ public static double CURRENT_SHOOTING_SPEED;
+
+ public static final double SHOOTING_SPEED_INCREMENT = 0;
+
private Shooter() {
flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
private Shooter() {
flyWheel = new CANTalon(Constants.Shooter.FLY_WHEEL);
indexWheel = new CANTalon(Constants.Shooter.INDEX_WHEEL);
+
}
/**
}
/**