make intake without beam-break sensors

WTMCRobotics · Feb 26, 2024 · 1263519 · 1263519
1 parent c5f020a
commit 1263519
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Showing 5 changed files with 23 additions and 5 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -7,6 +7,7 @@ public class Constants {
     public static final int DRIVE_LEFT_CHILD_ID = 8;
     public static final int DRIVE_RIGHT_PARENT_ID = 11;
     public static final int DRIVE_RIGHT_CHILD_ID = 3;
+    public static final int INTAKE_ID = 6101;
 
     /*CLIMB MOTOR IDS */
 

diff --git a/src/main/java/frc/robot/InputtedCoDriverControls.java b/src/main/java/frc/robot/InputtedCoDriverControls.java
@@ -23,6 +23,9 @@ public static void onEveryFrame() {
             shootIntoSpeaker();
         }
         doShooterIntake();
+        if (controller.getYButton()) {
+            doFloorIntake();
+        }
         if (controller.getStartButton()) {
             extendArms();
         }
@@ -31,6 +34,11 @@ public static void onEveryFrame() {
         }
     }
 
+    private static void doFloorIntake() {
+        Robot.motors.getIntake().set(.5);
+        //Robot.motors.getFeeder().set(.5);
+    }
+
     private static void extendArms() {
         Robot.getTeleopActionRunner().addActionToRun(new ExtendArms());
     }

diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -5,6 +5,7 @@
 package frc.robot;
 
 import com.kauailabs.navx.frc.AHRS;
+import com.revrobotics.CANSparkLowLevel.MotorType;
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj.SPI;
 import edu.wpi.first.wpilibj.TimedRobot;
@@ -44,6 +45,7 @@ public class Robot extends TimedRobot {
     MotorController feederMotor = MotorControllerFactory.create(9, MotorController.Type.SparkMax);
     MotorController leftClimb = MotorControllerFactory.create(Constants.LEFT_CLIMB_ID, MotorController.Type.Talon);
     MotorController rightClimb = MotorControllerFactory.create(Constants.RIGHT_CLIMB_ID, MotorController.Type.Talon);
+    MotorController intake = MotorControllerFactory.create(Constants.INTAKE_ID, MotorController.Type.SparkMax);
     XboxController driverController = new XboxController(Constants.DRIVER_CONTROLLER_ID);
     XboxController coDriverController = new XboxController(1);
     static AHRS navX = new AHRS(SPI.Port.kMXP);
@@ -82,7 +84,7 @@ public void robotInit() {
 
         feederMotor.setInverted(true);
 
-        System.out.println("is drive righjt parent inverted? " + driveRightParent.getInverted());
+        System.out.println("is drive right parent inverted? " + driveRightParent.getInverted());
 
         driveLeftChild.setBrakeMode(false);
         driveLeftParent.setBrakeMode(false);
@@ -99,7 +101,8 @@ public void robotInit() {
                 .leftFlywheel(leftFlywheel)
                 .rightFlywheel(rightFlywheel)
                 .leftClimb(leftClimb)
-                .rightClimb(rightClimb);
+                .rightClimb(rightClimb)
+                .intake(intake);
         getGyroscope().reset();
         System.out.println(Constants.APRIL_TAG_CONFIDENCE_FRAMES);
         SmartDashboard.putNumber("rotationGainsP", Constants.ROTATION_GAINS.P);
@@ -108,7 +111,7 @@ public void robotInit() {
 
         SmartDashboard.putNumber("PIDTARGET", 90);
 
-        System.out.println("is drive righjt parent inverted at end?? " + driveRightParent.getInverted());
+        System.out.println("is drive right parent inverted at end?? " + driveRightParent.getInverted());
 
         InputtedCoDriverControls.setCoDriverController(coDriverController);
     }

diff --git a/src/main/java/frc/robot/RobotMotors.java b/src/main/java/frc/robot/RobotMotors.java
@@ -13,6 +13,11 @@ public class RobotMotors {
     MotorController rightFlywheel;
     MotorController leftClimb;
     MotorController rightClimb;
+    MotorController intake;
+
+    public MotorController getIntake() {
+        return intake;
+    }
 
     public MotorController getDriveLeftParent() {
         return driveLeftParent;
@@ -87,8 +92,8 @@ public RobotMotors rightFlywheel(MotorController rightFlywheel) {
         return this;
     }
 
-    public RobotMotors intakeMotor(MotorController intakeMotor) {
-        this.feeder = intakeMotor;
+    public RobotMotors intake(MotorController intake) {
+        this.intake = intake;
         return this;
     }
 

diff --git a/src/main/java/frc/robot/auton/AutonShoot.java b/src/main/java/frc/robot/auton/AutonShoot.java
@@ -13,6 +13,7 @@ public class AutonShoot extends AutonAction {
     public boolean isDone() {
         if (Timer.getFPGATimestamp() >= revFinishedTime) {
             Robot.motors.getFeeder().set(0.2);
+            Robot.motors.getIntake().set(.2);
         }
         if (Timer.getFPGATimestamp() >= revFinishedTime + 1.0) {
             Robot.motors.getFeeder().set(0);