Drive and zeroing fixes

Spartronics4915 · Feb 20, 2020 · 96caa6c · 96caa6c
1 parent 056246b
commit 96caa6c
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Showing 4 changed files with 16 additions and 9 deletions.
diff --git a/src/main/java/com/spartronics4915/frc2020/RobotContainer.java b/src/main/java/com/spartronics4915/frc2020/RobotContainer.java
@@ -129,6 +129,7 @@ public RobotContainer()
         // Default Commands run whenever no Command is scheduled to run for a subsystem
         mClimber.setDefaultCommand(mClimberCommands.new Stop(mClimber));
         mIntake.setDefaultCommand(mIntakeCommands.new Stop(mIntake));
+        // mIndexer.setDefaultCommand(mIndexerCommands.new ZeroAndStopGroup(mIndexer));
         // mLauncher.setDefaultCommand(new ConditionalCommand(mLauncherCommands.new TargetAndShoot(mLauncher),
         //     mLauncherCommands.new TrackPassively(mLauncher), mLauncher::inRange));
         mLauncher.setDefaultCommand(mLauncherCommands.new ShootBallTest());//mLauncherCommands.new TargetAndShoot(mLauncher));
@@ -145,7 +146,7 @@ private void configureJoystickBindings()
         // Note: changes to bling state can be augmented with:
         // .alongWith(new SetBlingStateCommand(mLED, BlingState.SOME_STATE)));
 
-        new JoystickButton(mJoystick, 3).whenPressed(mIndexerCommands.new ZeroSpinnerCommand(mIndexer));
+        new JoystickButton(mJoystick, 3).whenPressed(mIndexerCommands.new ZeroSpinnerCommand(mIndexer, true));
 
         new JoystickButton(mJoystick, 2).whenPressed(mIndexerCommands.new SpinIndexer(mIndexer, 5));
         new JoystickButton(mJoystick, 4).whenPressed(mIndexerCommands.new StartTransfer(mIndexer))

diff --git a/src/main/java/com/spartronics4915/frc2020/commands/DriveCommands.java b/src/main/java/com/spartronics4915/frc2020/commands/DriveCommands.java
@@ -32,8 +32,7 @@ public TeleOpCommand(Joystick joy)
         @Override
         public void execute()
         {
-            mDrive.arcadeDrive(-mJoystick.getY(), mJoystick.getX()); // To invert joystick controller,
-                                                                     // so forward... is forward
+            mDrive.arcadeDrive(-mJoystick.getY(), -mJoystick.getX());
         }
     }
 }
diff --git a/src/main/java/com/spartronics4915/frc2020/commands/IndexerCommands.java b/src/main/java/com/spartronics4915/frc2020/commands/IndexerCommands.java
@@ -111,9 +111,14 @@ public class ZeroSpinnerCommand extends CommandBase
 
         // You should only use one subsystem per command. If multiple are needed, use a
         // CommandGroup.
-        public ZeroSpinnerCommand(Indexer indexer)
+        public ZeroSpinnerCommand(Indexer indexer, boolean unzero)
         {
             mIndexer = indexer;
+            if (unzero)
+            {
+                mIndexer.unzero();
+            }
+
             addRequirements(mIndexer);
         }
 
@@ -165,14 +170,10 @@ public boolean isFinished()
 
     public class ZeroAndStopGroup extends SequentialCommandGroup
     {
-        private Indexer mIndexer;
-
         public ZeroAndStopGroup(Indexer indexer)
         {
-            mIndexer = indexer;
-
             addCommands(
-                new ZeroSpinnerCommand(indexer),
+                new ZeroSpinnerCommand(indexer, false),
                 new StopCommand(indexer)
             );
         }

diff --git a/src/main/java/com/spartronics4915/frc2020/subsystems/Indexer.java b/src/main/java/com/spartronics4915/frc2020/subsystems/Indexer.java
@@ -104,6 +104,11 @@ public void setZero()
         mIndexerMotor.getEncoder().setPosition(0);
     }
 
+    public void unzero()
+    {
+        mHasZeroed = false;
+    }
+
     public boolean hasZeroed()
     {
         return mHasZeroed;
@@ -219,6 +224,7 @@ public boolean isTransferring()
      */
     public void stop()
     {
+        mTransferMotor.setNeutral();
         mKickerMotor.setNeutral();
         mIndexerMotor.setNeutral();
     }