update pneumatics and remove unnecessary files

Co-Authored-By: NadiaAdams <[email protected]> Co-Authored-By: Shreshta Parthaje <[email protected]>
RoboLoCo-5338 · Nov 30, 2024 · 2838aee · 2838aee
1 parent 350e3d0
commit 2838aee
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Showing 14 changed files with 4 additions and 469 deletions.
diff --git a/WPILib-License.md b/WPILib-License.md
@@ -1,4 +1,4 @@
-Copyright (c) 2009-2023 FIRST and other WPILib contributors
+Copyright (c) 2009-2024 FIRST and other WPILib contributors
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -55,7 +55,7 @@ public static class LauncherConstants {
 	}
 
 	public static class PneumaticConstants {
-		public static final int kForwardChannel = 1; // TODO: Update these channel values
+		public static final int kForwardChannel = 0; // TODO: Update these channel values
 		public static final int kReverseChannel = 2;
 	}
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -13,9 +13,7 @@
 // import frc.robot.subsystems.PWMLauncher;
 
 import frc.robot.subsystems.CANDrivetrain;
-import frc.robot.subsystems.CANLauncher;
 import frc.robot.subsystems.Pneumatics;
-import frc.robot.commands.LauncherCommands;
 import frc.robot.commands.PneumaticCommands;
 
 /**
@@ -30,7 +28,6 @@ public class RobotContainer {
 	// private final PWMDrivetrain m_drivetrain = new PWMDrivetrain();
 	public static final CANDrivetrain m_drivetrain = new CANDrivetrain();
 	// private final PWMLauncher m_launcher = new PWMLauncher();
-	public static final CANLauncher m_launcher = new CANLauncher();
 	public static final Pneumatics m_piston = new Pneumatics();
 	public static double speedUp = 0.0;
 
@@ -82,35 +79,14 @@ private void configureBindings() {
 		// left Bumper
 
 		// changed controls, check them at practice field
-
-		// stop shooter
-		m_operatorController.leftBumper().onTrue(LauncherCommands.LauncherOutput(0));
-		m_operatorController.leftBumper().onTrue(LauncherCommands.FeederOutput(0));
-
-		// intake
-		m_operatorController.leftTrigger().onTrue(LauncherCommands.LauncherOutput(-1));
-		m_operatorController.leftTrigger().onTrue(LauncherCommands.FeederOutput(-1));
-		m_operatorController.leftTrigger().onFalse(LauncherCommands.LauncherOutput(0));
-		m_operatorController.leftTrigger().onFalse(LauncherCommands.FeederOutput(0));
-
-		// outake
-		m_operatorController.rightTrigger().onTrue(LauncherCommands.LauncherOutput(1));
-		m_operatorController.rightBumper().onTrue(LauncherCommands.FeederOutput(1));
-		m_operatorController.rightTrigger().onFalse(LauncherCommands.LauncherOutput(0));
-		m_operatorController.rightBumper().onFalse(LauncherCommands.FeederOutput(0));
-
-		m_operatorController.a().onTrue(LauncherCommands.LauncherOutput(0.3));
-		m_operatorController.a().onTrue(LauncherCommands.FeederOutput(0.3));
-		m_operatorController.a().onFalse(LauncherCommands.LauncherOutput(0));
-		m_operatorController.a().onFalse(LauncherCommands.FeederOutput(0));
-
 		// m_driverController.rightTrigger().onFalse( new InstantCommand(()->
 		// {speedUp=0.0;}));
 
 		// piston
 		m_operatorController.b().onTrue(PneumaticCommands.pistonExtend());
 		m_operatorController.a().onTrue(PneumaticCommands.pistonRetract());
 		m_operatorController.x().onTrue(PneumaticCommands.solenoidOff());
+		m_operatorController.y().onTrue(PneumaticCommands.solenoidToggle());
 	}
 
 	/**
@@ -120,6 +96,6 @@ private void configureBindings() {
 	 */
 	public Command getAutonomousCommand() {
 		// An example command will be run in autonomous
-		return AutoCommands.driveAndShootAuto();
+		return null;
 	}
 }
diff --git a/src/main/java/frc/robot/commands/AutoCommands.java b/src/main/java/frc/robot/commands/AutoCommands.java
@@ -17,17 +17,4 @@ public static InstantCommand setDriveSpeed(double leftSpeed, double rightSpeed)
 	public static SequentialCommandGroup driveTime(double time, double speed) {
 		return new SequentialCommandGroup(setDriveSpeed(speed, speed), new WaitCommand(time), setDriveSpeed(0, 0));
 	}
-
-	// NOTE: Assuming direction of speeds right now, change it at practice field
-	public static SequentialCommandGroup shootNote() {
-		return new SequentialCommandGroup(LauncherCommands.LauncherOutput(1), new WaitCommand(1),
-				LauncherCommands.FeederOutput(1), new WaitCommand(0.5), LauncherCommands.FeederStop(),
-				LauncherCommands.LauncherStop());
-	}
-
-	public static SequentialCommandGroup driveAndShootAuto() {
-		return new SequentialCommandGroup(shootNote(), new WaitCommand(Constants.AutoConstants.delay),
-				driveTime(Constants.AutoConstants.driveTime, Constants.AutoConstants.driveSpeed));
-	}
-
 }
diff --git a/src/main/java/frc/robot/commands/Autos.java b/src/main/java/frc/robot/commands/Autos.java
diff --git a/src/main/java/frc/robot/commands/LaunchNote.java b/src/main/java/frc/robot/commands/LaunchNote.java
diff --git a/src/main/java/frc/robot/commands/LauncherCommands.java b/src/main/java/frc/robot/commands/LauncherCommands.java
diff --git a/src/main/java/frc/robot/commands/PrepareLaunch.java b/src/main/java/frc/robot/commands/PrepareLaunch.java
diff --git a/src/main/java/frc/robot/commands/SolenoidCommands.java b/src/main/java/frc/robot/commands/SolenoidCommands.java
diff --git a/src/main/java/frc/robot/subsystems/CANLauncher.java b/src/main/java/frc/robot/subsystems/CANLauncher.java