make extend and retract intake arm piston methods and a command

diff --git a/src/org/usfirst/frc/team3501/robot/Constants.java b/src/org/usfirst/frc/team3501/robot/Constants.java
index e7efadae482726dc272275266dec116ad977a629..e57bd7719a9622b45957feda2a79020a4d475189 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/Constants.java
+++ b/src/org/usfirst/frc/team3501/robot/Constants.java
@@ -119,6 +119,9 @@ public class Constants {
     public static final int RIGHT_FORWARD = 2;
     public static final int RIGHT_REVERSE = 3;
 
+    public static final Value EXTEND = DoubleSolenoid.Value.kForward;
+    public static final Value RETRACT = DoubleSolenoid.Value.kReverse;
+
     // for roller
     public static final double INTAKE_SPEED = 0.5;
     public static final double OUTPUT_SPEED = -0.5;

diff --git a/src/org/usfirst/frc/team3501/robot/OI.java b/src/org/usfirst/frc/team3501/robot/OI.java
index 3eb1c1f5ebac159a2962441f99f077d1726fc56a..491b71c61946103034c9841697e420dca814a5e8 100644 (file)
--- a/src/org/usfirst/frc/team3501/robot/OI.java
+++ b/src/org/usfirst/frc/team3501/robot/OI.java
@@ -7,14 +7,12 @@ import org.usfirst.frc.team3501.robot.commands.auton.PassPortcullis;
 import org.usfirst.frc.team3501.robot.commands.auton.PassSallyPort;
 import org.usfirst.frc.team3501.robot.commands.driving.Turn180;
 import org.usfirst.frc.team3501.robot.commands.intakearm.IntakeBall;
-import org.usfirst.frc.team3501.robot.commands.intakearm.MoveIntakeArmToAngle;
 import org.usfirst.frc.team3501.robot.commands.scaler.ExtendLift;
 import org.usfirst.frc.team3501.robot.commands.scaler.RetractLift;
 import org.usfirst.frc.team3501.robot.commands.scaler.RunWinchContinuous;
 import org.usfirst.frc.team3501.robot.commands.scaler.StopWinch;
 import org.usfirst.frc.team3501.robot.commands.scaler.ToggleScaling;
 import org.usfirst.frc.team3501.robot.commands.shooter.Shoot;
-import org.usfirst.frc.team3501.robot.subsystems.IntakeArm;
 
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Joystick;
@@ -56,41 +54,24 @@ public class OI {
     leftJoystick = new Joystick(Constants.OI.LEFT_STICK_PORT);
     rightJoystick = new Joystick(Constants.OI.RIGHT_STICK_PORT);
 
-    passPortcullis = new DigitalButton(new DigitalInput(
-        Constants.OI.PASS_PORTCULLIS_PORT));
+    passPortcullis = new DigitalButton(
+        new DigitalInput(Constants.OI.PASS_PORTCULLIS_PORT));
     passPortcullis.whenPressed(new PassPortcullis());
 
-    passChevalDeFrise = new DigitalButton(new DigitalInput(
-        Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
+    passChevalDeFrise = new DigitalButton(
+        new DigitalInput(Constants.OI.PASS_CHEVAL_DE_FRISE_PORT));
     passChevalDeFrise.whenPressed(new PassChevalDeFrise());
 
-    passDrawbridge = new DigitalButton(new DigitalInput(
-        Constants.OI.PASS_DRAWBRIDGE_PORT));
+    passDrawbridge = new DigitalButton(
+        new DigitalInput(Constants.OI.PASS_DRAWBRIDGE_PORT));
     passDrawbridge.whenPressed(new PassDrawBridge());
 
-    passSallyPort = new DigitalButton(new DigitalInput(
-        Constants.OI.PASS_SALLYPORT_PORT));
+    passSallyPort = new DigitalButton(
+        new DigitalInput(Constants.OI.PASS_SALLYPORT_PORT));
     passSallyPort.whenPressed(new PassSallyPort());
 
-    lowerChevalDeFrise = new DigitalButton(new DigitalInput(
-        Constants.OI.ARCADE_INTAKEARM_LEVEL_ONE_PORT));
-    lowerChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
-        IntakeArm.potAngles[0], IntakeArm.moveIntakeArmSpeed));
-
-    moveToIntakeBoulder = new DigitalButton(new DigitalInput(
-        Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
-    moveToIntakeBoulder.whenPressed(new MoveIntakeArmToAngle(
-        IntakeArm.potAngles[1], IntakeArm.moveIntakeArmSpeed));
-
-    poiseAboveChevalDeFrise = new DigitalButton(new DigitalInput(
-        Constants.OI.ARCADE_INTAKEARM_LEVEL_THREE_PORT));
-    poiseAboveChevalDeFrise.whenPressed(new MoveIntakeArmToAngle(
-        IntakeArm.potAngles[2], IntakeArm.moveIntakeArmSpeed));
-
-    moveIntakeArmInsideRobot = new DigitalButton(new DigitalInput(
-        Constants.OI.ARCADE_INTAKEARM_LEVEL_FOUR_PORT));
-    moveIntakeArmInsideRobot.whenPressed(new MoveIntakeArmToAngle(
-        IntakeArm.potAngles[3], IntakeArm.moveIntakeArmSpeed));
+    moveToIntakeBoulder = new DigitalButton(
+        new DigitalInput(Constants.OI.ARCADE_INTAKEARM_LEVEL_TWO_PORT));
 
     toggleShooter = new JoystickButton(leftJoystick,
         Constants.OI.LEFT_JOYSTICK_TRIGGER_PORT);
@@ -110,8 +91,8 @@ public class OI {
     shootBoulder = new JoystickButton(rightJoystick,
         Constants.OI.RIGHT_JOYSTICK_THUMB_PORT);
 
-    toggleScaling = new DigitalButton(new DigitalInput(
-        Constants.OI.TOGGLE_SCALING_PORT));
+    toggleScaling = new DigitalButton(
+        new DigitalInput(Constants.OI.TOGGLE_SCALING_PORT));
     toggleScaling.whenPressed(new ToggleScaling());
 
     if (!Constants.Scaler.SCALING) {

diff --git a/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArm.java b/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArm.java
new file mode 100755 (executable)
index 0000000..1d24648
--- /dev/null
+++ b/src/org/usfirst/frc/team3501/robot/commands/intakearm/MoveIntakeArm.java
@@ -0,0 +1,43 @@
+package org.usfirst.frc.team3501.robot.commands.intakearm;
+
+import org.usfirst.frc.team3501.robot.Constants;
+import org.usfirst.frc.team3501.robot.Robot;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ * This command will expand or retract the intake arm's pistons depending on the
+ * specified direction the intake arm should move
+ */
+public class MoveIntakeArm extends Command {
+
+  public MoveIntakeArm(Value direction) {
+
+    if (direction == Constants.IntakeArm.EXTEND)
+      Robot.intakeArm.extendPistons();
+    else
+      Robot.intakeArm.retractPistons();
+  }
+
+  @Override
+  protected void initialize() {
+  }
+
+  @Override
+  protected void execute() {
+  }
+
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  @Override
+  protected void end() {
+  }
+
+  @Override
+  protected void interrupted() {
+  }
+}

diff --git a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
index 1870799debfc45f510217aded8ae180c73417dba..856db2bb139c5c23b0639783df255486eff9814b 100755 (executable)
--- a/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
+++ b/src/org/usfirst/frc/team3501/robot/subsystems/IntakeArm.java
@@ -34,6 +34,16 @@ public class IntakeArm extends Subsystem {
         Constants.IntakeArm.RIGHT_REVERSE);
   }
 
+  public void retractPistons() {
+    leftIntake.set(Constants.IntakeArm.RETRACT);
+    rightIntake.set(Constants.IntakeArm.RETRACT);
+  }
+
+  public void extendPistons() {
+    leftIntake.set(Constants.IntakeArm.EXTEND);
+    rightIntake.set(Constants.IntakeArm.EXTEND);
+  }
+
   /***
    * This method sets the voltage of the motor to intake the ball. The voltage
    * values are constants in Constants class