Merge pull request #17 from 2491-NoMythic/More-Inderxer-Works

2491-NoMythic · Jan 25, 2024 · ebe1ca5 · ebe1ca5
2 parents 9406542 + a5edf8c
commit ebe1ca5
Show file tree

Hide file tree

Showing 8 changed files with 97 additions and 54 deletions.
diff --git a/gradlew b/gradlew
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -147,7 +147,7 @@ private void indexInit() {
     indexer = new IndexerSubsystem();
   }
   private void indexCommandInst() {
-    defaulNoteHandlingCommand = new IndexCommand(indexer, operatorController::getL1Button, shooter, intake);
+    defaulNoteHandlingCommand = new IndexCommand(indexer, driverController::getR2Button, shooter, intake);
   }
 
   private void autoInit() {
@@ -261,7 +261,7 @@ private void registerNamedCommands() {
     NamedCommands.registerCommand("shooterOn", new InstantCommand(()->shooter.shootThing(1), shooter));
     NamedCommands.registerCommand("feedShooter", new InstantCommand(()->indexer.feederFeed(0.5), indexer));
     NamedCommands.registerCommand("stopFeedingShooter", new InstantCommand(indexer::feederOff, indexer));
-    NamedCommands.registerCommand("intakeOn", new InstantCommand(intake))
+    NamedCommands.registerCommand("intakeOn", new InstantCommand(()-> intake.intakeYes(1)));
   }
 
   public void teleopPeriodic() {

diff --git a/src/main/java/frc/robot/commands/IndexCommand.java b/src/main/java/frc/robot/commands/IndexCommand.java
@@ -40,15 +40,16 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    if (Sensor.noseeing()) {
+    if (m_Indexer.getInchesFromSensor()>8) {
       intake.intakeYes(1);
       m_Indexer.holderRetrieve(0.5);
+      shooter.turnOff();
     } else {
       intake.intakeOff();
       m_Indexer.holderOff();
+      shooter.shootThing(1);
     }
     if (shootButtonSupplier.getAsBoolean()) {
-      shooter.shootThing(1);
       m_Indexer.feederFeed(0.5);
     }
   }

diff --git a/src/main/java/frc/robot/commands/IndexerCommand.java b/src/main/java/frc/robot/commands/IndexerCommand.java
diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
@@ -14,6 +14,7 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import com.pathplanner.lib.path.PathConstraints;
+import com.revrobotics.Rev2mDistanceSensor.Port;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -312,6 +313,7 @@ public static final class IndexerConstants{
   public static final int HOLDER_1_MOTOR = 2491;
   public static final int HOLDER_2_MOTOR = 2491;
   public static final double INDEXER_SPEED = 0.75;
+  public static final Port DIST_SENSOR_PORT = Port.kOnboard;
 }
 public static final class IntakeConstants{
   public static final int INTAKE_1_MOTOR = 2491;

diff --git a/src/main/java/frc/robot/subsystems/IndexerSubsystem.java b/src/main/java/frc/robot/subsystems/IndexerSubsystem.java
@@ -2,36 +2,49 @@
 
 import com.revrobotics.CANSparkMax;
  import com.revrobotics.RelativeEncoder;
- import com.revrobotics.SparkPIDController;
+import com.revrobotics.Rev2mDistanceSensor;
+import com.revrobotics.SparkPIDController;
  import com.revrobotics.SparkRelativeEncoder;
  import com.revrobotics.CANSparkBase.ControlType;
  import com.revrobotics.CANSparkBase.IdleMode;
  import com.revrobotics.CANSparkLowLevel.MotorType;
  import edu.wpi.first.wpilibj2.command.SubsystemBase;
- import frc.robot.settings.Constants.IndexerConstants;
+import frc.robot.settings.Constants;
+import frc.robot.settings.Constants.IndexerConstants;
+import com.revrobotics.Rev2mDistanceSensor.*;
 
 public class IndexerSubsystem extends SubsystemBase{
     CANSparkMax holder1;
     CANSparkMax holder2;
     CANSparkMax feeder1;
     CANSparkMax feeder2;
-    //sensor Sensorthingy;
+    Rev2mDistanceSensor distanceSensor;    //sensor Sensorthingy;
     boolean isHolding;
     public IndexerSubsystem(){
-    CANSparkMax holder1 = new CANSparkMax(IndexerConstants.HOLDER_1_MOTOR, MotorType.kBrushless);
-    CANSparkMax holder2 = new CANSparkMax(IndexerConstants.HOLDER_2_MOTOR, MotorType.kBrushless);
-    CANSparkMax feeder1 = new CANSparkMax(IndexerConstants.FEEDER_1_MOTOR, MotorType.kBrushless);
-    CANSparkMax feeder2 = new CANSparkMax(IndexerConstants.FEEDER_2_MOTOR, MotorType.kBrushless);
-    //sensor sensorThingy = new ???;
-    boolean isHolding = false;
-    feeder2.follow(feeder1);
-    feeder2.setInverted(true);
-    holder2.follow(holder1);
-    holder2.setInverted(true);
-    holder1.setIdleMode(IdleMode.kBrake);
-    holder2.setIdleMode(IdleMode.kBrake);
-    feeder1.setIdleMode(IdleMode.kBrake);
-    feeder2.setIdleMode(IdleMode.kBrake);
+        CANSparkMax holder1 = new CANSparkMax(IndexerConstants.HOLDER_1_MOTOR, MotorType.kBrushless);
+        CANSparkMax holder2 = new CANSparkMax(IndexerConstants.HOLDER_2_MOTOR, MotorType.kBrushless);
+        CANSparkMax feeder1 = new CANSparkMax(IndexerConstants.FEEDER_1_MOTOR, MotorType.kBrushless);
+        CANSparkMax feeder2 = new CANSparkMax(IndexerConstants.FEEDER_2_MOTOR, MotorType.kBrushless);
+        //sensor sensorThingy = new ???;
+        boolean isHolding = false;
+        feeder2.follow(feeder1);
+        feeder2.setInverted(true);
+        holder2.follow(holder1);
+        holder2.setInverted(true);
+        holder1.setIdleMode(IdleMode.kBrake);
+        holder2.setIdleMode(IdleMode.kBrake);
+        feeder1.setIdleMode(IdleMode.kBrake);
+        feeder2.setIdleMode(IdleMode.kBrake);
+
+        distanceSensor = new Rev2mDistanceSensor(
+            Constants.IndexerConstants.DIST_SENSOR_PORT,
+            Unit.kInches,
+            RangeProfile.kHighAccuracy);
+        distanceSensor.setAutomaticMode(true);
+    }
+
+    public double getInchesFromSensor() {
+        return distanceSensor.getRange();
     }
     public void feederFeed(double generalSpeed){
         feeder1.set(generalSpeed);

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -9,7 +9,8 @@
  import com.revrobotics.SparkPIDController;
  import com.revrobotics.SparkRelativeEncoder;
  import com.revrobotics.CANSparkBase.ControlType;
- import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkLowLevel.MotorType;
 
 import frc.robot.commands.AngleShooter;
 import frc.robot.commands.RotateRobot;
@@ -86,6 +87,8 @@ public ShooterSubsystem(double runSpeed, BooleanSupplier aimAtAmp) {
      shooter1.restoreFactoryDefaults();
      shooter2.follow(shooter1);
      shooter2.setInverted(true);
+     shooter1.setIdleMode(IdleMode.kCoast);
+     shooter2.setIdleMode(IdleMode.kCoast);
 
 
      encoder1 = shooter1.getEncoder(SparkRelativeEncoder.Type.kQuadrature, 4096);

diff --git a/vendordeps/REV2mDistanceSensor.json b/vendordeps/REV2mDistanceSensor.json
@@ -0,0 +1,56 @@
+{
+    "fileName": "REV2mDistanceSensor.json",
+    "name": "REV2mDistanceSensor",
+    "version": "0.4.0",
+    "frcYear": "2024",
+    "uuid": "9e352acd-4eec-40f7-8490-3357b5ed65ae",
+    "mavenUrls": [
+        "https://www.revrobotics.com/content/sw/max/sdk/maven/"
+    ],
+    "jsonUrl": "https://www.revrobotics.com/content/sw/max/sdk/Rev2mDistanceSensor.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "DistanceSensor-java",
+            "version": "0.4.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "DistanceSensor-driver",
+            "version": "0.4.0",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "linuxathena"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "DistanceSensor-cpp",
+            "version": "0.4.0",
+            "libName": "libDistanceSensor",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "DistanceSensor-driver",
+            "version": "0.4.0",
+            "libName": "libDistanceSensorDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena"
+            ]
+        }
+    ]
+}