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remove shooter #1

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ccb53c1
remove shooter
SketchyBoi Nov 2, 2022
6b67cff
remove the shooter class from constants
SketchyBoi Nov 2, 2022
981e272
Set speed of left and right motors, bind joystick to movements of motors
SketchyBoi Nov 3, 2022
0b89cfd
Changed name for drivetrainsubsystem, move motorcontrollergroup up
SketchyBoi Nov 3, 2022
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12 changes: 7 additions & 5 deletions src/main/java/frc/robot/Constants.java
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Expand Up @@ -13,10 +13,12 @@
* constants are needed, to reduce verbosity.
*/
public final class Constants {
public static final class Shooter {
public static final int right_shooter_motor = 15;
public static final int left_shooter_motor = 16;
public static final double upper_speed = 0.5;
public static final double lower_speed = 0.2;
public static final class Drivetrain
{
public static final int right_front = 13;
public static final int left_front = 11;
public static final int right_back = 14;
public static final int left_back = 12;
public static final int drive_speed = 1;
}
}
25 changes: 11 additions & 14 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -4,13 +4,14 @@

package frc.robot;

import javax.naming.ConfigurationException;

import edu.wpi.first.wpilibj.GenericHID;
import edu.wpi.first.wpilibj.XboxController;
import edu.wpi.first.wpilibj.XboxController.Button;
import frc.robot.commands.ExampleCommand;
import frc.robot.commands.UpperShoot;
import frc.robot.subsystems.ExampleSubsystem;
import frc.robot.subsystems.Shooter;
import frc.robot.Constants;
import frc.robot.commands.TankDrive;
import frc.robot.subsystems.Drivetrain;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;

Expand All @@ -21,14 +22,10 @@
* subsystems, commands, and button mappings) should be declared here.
*/
public class RobotContainer {
// The robot's subsystems and commands are defined here...
private final Shooter shooterSubsystem = new Shooter();

private final UpperShoot shooterCommand = new UpperShoot(shooterSubsystem);

/** The container for the robot. Contains subsystems, OI devices, and commands. */
// rename o drivetrain (f2 shortcut)
private final Drivetrain drivetrain = new Drivetrain();
public RobotContainer() {
// Configure the button bindings
configureButtonBindings();
}

Expand All @@ -37,11 +34,11 @@ public RobotContainer() {
* instantiating a {@link GenericHID} or one of its subclasses ({@link
* edu.wpi.first.wpilibj.Joystick} or {@link XboxController}), and then passing it to a {@link
* edu.wpi.first.wpilibj2.command.button.JoystickButton}.
*/
*/
private void configureButtonBindings() {
XboxController exBox = new XboxController(0);
JoystickButton joySteck = new JoystickButton(exBox, Button.kY.value);
joySteck.whenHeld(shooterCommand);
XboxController pilot = new XboxController(0);
drivetrain.setDefaultCommand(new TankDrive(drivetrain, pilot::getLeftY, pilot::getRightY));
}

/**
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55 changes: 55 additions & 0 deletions src/main/java/frc/robot/commands/TankDrive.java
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@@ -0,0 +1,55 @@
package frc.robot.commands;

import java.util.function.DoublePredicate;
import java.util.function.DoubleSupplier;

import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.Constants;
import frc.robot.subsystems.Drivetrain;

public class TankDrive extends CommandBase {
@SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
private final Drivetrain drivetrain;
private DoubleSupplier left;
private DoubleSupplier right;

/**
* Creates a new ExampleCommand.
*
* @param subsystem The subsystem used by this command.
*/

// bcz this keyword, u can use left and right in params
public TankDrive(Drivetrain drivetrainl, DoubleSupplier leftl, DoubleSupplier rightl) {
this.drivetrain = drivetrainl;
this.left = leftl;
this.right = rightl;
// Use addRequirements() here to declare subsystem dependencies.
addRequirements(drivetrainl);
}

// Called when the command is initially scheduled.
@Override
public void initialize() {
drivetrain.setSpeed(0, 0);
}

// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
drivetrain.setSpeed(left.getAsDouble(), right.getAsDouble());
}

// Called once the command ends or is interrupted.
@Override
public void end(boolean interrupted) {
drivetrain.setSpeed(0, 0);
}

// Returns true when the command should end.
@Override
public boolean isFinished() {
return false;
}
}
40 changes: 0 additions & 40 deletions src/main/java/frc/robot/commands/UpperShoot.java
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28 changes: 28 additions & 0 deletions src/main/java/frc/robot/subsystems/Drivetrain.java
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@@ -0,0 +1,28 @@
package frc.robot.subsystems;

import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;

import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;

public class Drivetrain extends SubsystemBase{
private WPI_TalonFX rightFrontMotor = new WPI_TalonFX(Constants.Drivetrain.right_front);
private WPI_TalonFX leftFrontMotor = new WPI_TalonFX(Constants.Drivetrain.left_front);
private WPI_TalonFX rightBackMotor = new WPI_TalonFX(Constants.Drivetrain.right_back);
private WPI_TalonFX leftBackMotor = new WPI_TalonFX(Constants.Drivetrain.left_back);

private MotorControllerGroup leftDrive = new MotorControllerGroup(leftFrontMotor, leftBackMotor);
private MotorControllerGroup rightDrive = new MotorControllerGroup(rightFrontMotor, rightBackMotor);

public Drivetrain ()
{
rightDrive.setInverted(true);
leftDrive.setInverted(false);
}
public void setSpeed (double leftSpeed, double rightSpeed)
{
leftDrive.set(leftSpeed);
rightDrive.set(rightSpeed);
}
}
3 changes: 2 additions & 1 deletion src/main/java/frc/robot/subsystems/ExampleSubsystem.java
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Expand Up @@ -4,11 +4,12 @@

package frc.robot.subsystems;

import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import frc.robot.Constants;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

public class ExampleSubsystem extends SubsystemBase {
/** Creates a new ExampleSubsystem. */
public ExampleSubsystem() {}

@Override
public void periodic() {
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22 changes: 0 additions & 22 deletions src/main/java/frc/robot/subsystems/Shooter.java
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