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// Copyright (c) FIRST and other WPILib contributors. | ||
// Open Source Software; you can modify and/or share it under the terms of | ||
// the WPILib BSD license file in the root directory of this project. | ||
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/* | ||
* Asimov's Laws: | ||
* The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm. | ||
* The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. | ||
* The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. | ||
*/ | ||
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package frc.robot.commands.mailbox; | ||
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import edu.wpi.first.wpilibj2.command.Command; | ||
import frc.robot.RobotContainer; | ||
import frc.robot.subsystems.Intake; | ||
import frc.robot.subsystems.mailbox.Mailbox; | ||
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/** Outputs the note from the index belts into the mailbox belts. */ | ||
public class DeindexNote extends Command { | ||
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private Intake intake; | ||
private Mailbox mailbox; | ||
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/** Creates a new DeindexNote. */ | ||
public DeindexNote() { | ||
this.intake = RobotContainer.intake; | ||
this.mailbox = RobotContainer.mailbox; | ||
addRequirements(intake, mailbox); | ||
} | ||
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// Called when the command is initially scheduled. | ||
@Override | ||
public void initialize() {} | ||
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// Called every time the scheduler runs while the command is scheduled. | ||
@Override | ||
public void execute() { | ||
/* If the mailbox is fully raised, run the intake. */ | ||
if (mailbox.getLimitSwitch()) { | ||
intake.runIntake(); | ||
} | ||
/* This else isn't neccessary, just advised for safety. If it interferes with anything, feel free to remove it. */ | ||
else { | ||
intake.stop(); | ||
} | ||
} | ||
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// Called once the command ends or is interrupted. | ||
@Override | ||
public void end(boolean interrupted) { | ||
intake.stop(); | ||
} | ||
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// Returns true when the command should end. | ||
@Override | ||
public boolean isFinished() { | ||
return false; | ||
} | ||
} |
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25 changes: 25 additions & 0 deletions
25
src/main/java/frc/robot/commands/mailbox/FireNoteRoutine.java
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Original file line number | Diff line number | Diff line change |
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// Copyright (c) FIRST and other WPILib contributors. | ||
// Open Source Software; you can modify and/or share it under the terms of | ||
// the WPILib BSD license file in the root directory of this project. | ||
|
||
/* | ||
* Asimov's Laws: | ||
* The First Law: A robot may not injure a human being or, through inaction, allow a human being to come to harm. | ||
* The Second Law: A robot must obey the orders given it by human beings except where such orders would conflict with the First Law. | ||
* The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law. | ||
*/ | ||
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package frc.robot.commands.mailbox; | ||
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import edu.wpi.first.wpilibj2.command.ParallelCommandGroup; | ||
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/** | ||
* Scores the note into the amp. Raises the mailbox, runs the mailbox belts, and then runs the index | ||
* belts to send the note into the belts. | ||
*/ | ||
public class FireNoteRoutine extends ParallelCommandGroup { | ||
/** Creates a new FireNote. */ | ||
public FireNoteRoutine() { | ||
addCommands(new DeployMailbox(), new DeindexNote()); | ||
} | ||
} |
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