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Create Hatch Failsafe to Prevent Arm from Hitting the Hatch Intake… #28

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1 change: 1 addition & 0 deletions 2019robot/src/main/java/org/usfirst/frc4388/robot/OI.java
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Expand Up @@ -8,6 +8,7 @@
import org.usfirst.frc4388.controller.XboxController;
import org.usfirst.frc4388.robot.commands.*;
import org.usfirst.frc4388.robot.commands.presets.SetPositionArmWrist;
import org.usfirst.frc4388.robot.commands.presets.StowArm;
import org.usfirst.frc4388.robot.constants.LEDPatterns;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
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6 changes: 5 additions & 1 deletion 2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/CargoHigh.java
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Expand Up @@ -7,7 +7,9 @@

package org.usfirst.frc4388.robot.commands.presets;

import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;

import edu.wpi.first.wpilibj.command.CommandGroup;
Expand All @@ -17,9 +19,11 @@ public class CargoHigh extends CommandGroup {
* Add your docs here.
*/
public CargoHigh() {

boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(3243));
addSequential(new ArmSetPositionMM(4298));
addSequential(new HatchFlip(HatchFlipStatus));

// Add Commands here:
// e.g. addSequential(new Command1());
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6 changes: 5 additions & 1 deletion 2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/CargoLow.java
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Expand Up @@ -7,7 +7,9 @@

package org.usfirst.frc4388.robot.commands.presets;

import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;

import edu.wpi.first.wpilibj.command.CommandGroup;
Expand All @@ -17,9 +19,11 @@ public class CargoLow extends CommandGroup {
* Add your docs here.
*/
public CargoLow() {

boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(2500));
addSequential(new ArmSetPositionMM(1388));
addSequential(new HatchFlip(HatchFlipStatus));

// Add Commands here:
// e.g. addSequential(new Command1());
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6 changes: 5 additions & 1 deletion 2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/CargoMid.java
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Expand Up @@ -7,7 +7,9 @@

package org.usfirst.frc4388.robot.commands.presets;

import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;

import edu.wpi.first.wpilibj.command.CommandGroup;
Expand All @@ -17,9 +19,11 @@ public class CargoMid extends CommandGroup {
* Add your docs here.
*/
public CargoMid() {

boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(2830));
addSequential(new ArmSetPositionMM(2830));
addSequential(new HatchFlip(HatchFlipStatus));

// Add Commands here:
// e.g. addSequential(new Command1());
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6 changes: 5 additions & 1 deletion 2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/HatchHigh.java
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Expand Up @@ -7,7 +7,9 @@

package org.usfirst.frc4388.robot.commands.presets;

import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;

import edu.wpi.first.wpilibj.command.CommandGroup;
Expand All @@ -17,9 +19,11 @@ public class HatchHigh extends CommandGroup {
* Add your docs here.
*/
public HatchHigh() {

boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(1144));
addSequential(new ArmSetPositionMM(3605));
addSequential(new HatchFlip(HatchFlipStatus));

// Add Commands here:
// e.g. addSequential(new Command1());
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6 changes: 5 additions & 1 deletion 2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/HatchLow.java
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Expand Up @@ -7,7 +7,9 @@

package org.usfirst.frc4388.robot.commands.presets;

import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;

import edu.wpi.first.wpilibj.command.CommandGroup;
Expand All @@ -17,9 +19,11 @@ public class HatchLow extends CommandGroup {
* Add your docs here.
*/
public HatchLow() {

boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(450));
addSequential(new ArmSetPositionMM(590));
addSequential(new HatchFlip(HatchFlipStatus));

// Add Commands here:
// e.g. addSequential(new Command1());
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6 changes: 5 additions & 1 deletion 2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/HatchMid.java
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Expand Up @@ -7,7 +7,9 @@

package org.usfirst.frc4388.robot.commands.presets;

import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristSetPositionPID;

import edu.wpi.first.wpilibj.command.CommandGroup;
Expand All @@ -17,9 +19,11 @@ public class HatchMid extends CommandGroup {
* Add your docs here.
*/
public HatchMid() {

boolean HatchFlipStatus = Robot.pnumatics.hatchIntakeState;
addSequential(new HatchFlip(false));
addParallel(new WristSetPositionPID(750));
addSequential(new ArmSetPositionMM(2000));
addSequential(new HatchFlip(HatchFlipStatus));

// Add Commands here:
// e.g. addSequential(new Command1());
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3 changes: 3 additions & 0 deletions 2019robot/src/main/java/org/usfirst/frc4388/robot/commands/presets/StowArm.java
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Expand Up @@ -7,6 +7,7 @@

package org.usfirst.frc4388.robot.commands.presets;

import org.usfirst.frc4388.robot.Robot;
import org.usfirst.frc4388.robot.commands.ArmSetPositionMM;
import org.usfirst.frc4388.robot.commands.HatchFlip;
import org.usfirst.frc4388.robot.commands.WristPlacement;
Expand All @@ -19,11 +20,13 @@ public class StowArm extends CommandGroup {
/**
* Add your docs here.
*/

public StowArm() {
addSequential(new HatchFlip(false));
addParallel(new WristPlacement(true));
addParallel(new WristSetPositionPID(110), 2);
addSequential(new ArmSetPositionMM(10));

// Add Commands here:
// e.g. addSequential(new Command1());
// addSequential(new Command2());
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8 changes: 8 additions & 0 deletions 2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Pneumatics.java
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Expand Up @@ -14,6 +14,10 @@ public class Pneumatics extends Subsystem {
private DoubleSolenoid ballIntake;
private DoubleSolenoid wrist;

public boolean hatchIntakeState = false;
public boolean ballIntakeState = false;
public boolean speedShiftState = false;
public boolean wristState = false;

public Pneumatics() {
try {
Expand All @@ -34,6 +38,7 @@ public void setShiftState(boolean state) {
if (state==false) {
speedShift.set(DoubleSolenoid.Value.kReverse);
}
speedShiftState = state;
}
public void setHatchIntakeState(boolean state) {
if (state==true) {
Expand All @@ -42,6 +47,7 @@ public void setHatchIntakeState(boolean state) {
if (state==false) {
hatchIntake.set(DoubleSolenoid.Value.kReverse);
}
hatchIntakeState = state;
}
public void setBallIntake(boolean state) {
if (state==true) {
Expand All @@ -50,6 +56,7 @@ public void setBallIntake(boolean state) {
if (state==false) {
ballIntake.set(DoubleSolenoid.Value.kReverse);
}
ballIntakeState = state;
}
public void setWrist(boolean state) {
if (state==true) {
Expand All @@ -58,6 +65,7 @@ public void setWrist(boolean state) {
if (state==false) {
wrist.set(DoubleSolenoid.Value.kReverse);
}
wristState = state;
}

public void initDefaultCommand() {
Expand Down