Merge branch 'main' into limelight

src/main/java/frc/robot/Constants.java

@@ -22,6 +22,14 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+
+  /** Constants for the Mailbox system */
+  public static class Mailbox {
+    // It was me, DIO!
+    /** DIO Port ID for the Mailbox limit switch. */
+    public static final int MAILBOX_LIMIT_SWITCH_DIO_PORT = 0;
+  }
+
   /** Constants for the Pneumatics system. */
   public static class MailboxPneumatics {
     /** The channel on the PCM for the forward direction on the left solenoid. */

src/main/java/frc/robot/RobotContainer.java

@@ -19,14 +19,19 @@
 import frc.robot.commands.DeployPneumatics;
 import frc.robot.commands.DeployUrMom;
 import frc.robot.commands.EnterXMode;
-import frc.robot.commands.RunBelts;
 import frc.robot.commands.RunIntake;
 import frc.robot.commands.drive.DriveFieldOriented;
 import frc.robot.commands.drive.DriveRobotOriented;
+import frc.robot.commands.mailbox.DeindexNote;
+import frc.robot.commands.mailbox.DeployMailbox;
+import frc.robot.commands.mailbox.DeployPneumatics;
+import frc.robot.commands.mailbox.FireNoteRoutine;
+import frc.robot.commands.mailbox.RunBelts;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.Limelight;
 import frc.robot.subsystems.UrMom;
+import frc.robot.subsystems.mailbox.Mailbox;
 import frc.robot.subsystems.mailbox.MailboxBelts;
 import frc.robot.subsystems.mailbox.MailboxPneumatics;
 
@@ -52,6 +57,9 @@ public class RobotContainer {
   /** Singleton instance of {@link MailboxBelts} for the whole robot. */
   public static MailboxBelts mailboxBelts = new MailboxBelts();
 
+  /** Singleton instance of {@link Mailbox} for the whole robot. */
+  public static Mailbox mailbox = new Mailbox();
+
   /** Singleton instance of {@link Intake} for the whole robot. */
   public static Intake intake = new Intake();
 
@@ -73,6 +81,9 @@ public class RobotContainer {
   private EnterXMode enterXMode = new EnterXMode();
   private DeployPneumatics deployPneumatics = new DeployPneumatics();
   private RunBelts runBelts = new RunBelts();
+  private DeployMailbox deployMailbox = new DeployMailbox();
+  private DeindexNote deindexNote = new DeindexNote();
+  private FireNoteRoutine fireNote = new FireNoteRoutine();
   private RunIntake runIntake = new RunIntake();
   private AimWithLimelight aimToAmp =
       new AimWithLimelight(
@@ -113,7 +124,7 @@ private void configureBindings() {
 
     driverController.x().onTrue(enterXMode);
     driverController.a().onTrue(runIntake);
-    driverController.y().onTrue(deployPneumatics);
+    driverController.y().onTrue(fireNote);
   }
 
   /**

src/main/java/frc/robot/commands/mailbox/DeindexNote.java

@@ -0,0 +1,60 @@
+// 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.
+ */
+
+package frc.robot.commands.mailbox;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
+import frc.robot.subsystems.Intake;
+import frc.robot.subsystems.mailbox.Mailbox;
+
+/** Outputs the note from the index belts into the mailbox belts. */
+public class DeindexNote extends Command {
+
+  private Intake intake;
+  private Mailbox mailbox;
+
+  /** Creates a new DeindexNote. */
+  public DeindexNote() {
+    this.intake = RobotContainer.intake;
+    this.mailbox = RobotContainer.mailbox;
+    addRequirements(intake, mailbox);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // 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();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    intake.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/DeployMailbox.java → src/main/java/frc/robot/commands/mailbox/DeployMailbox.java

@@ -9,7 +9,7 @@
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
 
-package frc.robot.commands;
+package frc.robot.commands.mailbox;
 
 import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 

src/main/java/frc/robot/commands/DeployPneumatics.java → src/main/java/frc/robot/commands/mailbox/DeployPneumatics.java

@@ -9,7 +9,7 @@
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
 
-package frc.robot.commands;
+package frc.robot.commands.mailbox;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.RobotContainer;

src/main/java/frc/robot/commands/mailbox/FireNoteRoutine.java

@@ -0,0 +1,25 @@
+// 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.
+ */
+
+package frc.robot.commands.mailbox;
+
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+
+/**
+ * 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());
+  }
+}

src/main/java/frc/robot/commands/RunBelts.java → src/main/java/frc/robot/commands/mailbox/RunBelts.java

@@ -9,7 +9,7 @@
  * The Third Law: A robot must protect its own existence as long as such protection does not conflict with the First or Second Law.
  */
 
-package frc.robot.commands;
+package frc.robot.commands.mailbox;
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.RobotContainer;

src/main/java/frc/robot/subsystems/mailbox/Mailbox.java

@@ -11,12 +11,30 @@
 
 package frc.robot.subsystems.mailbox;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
 
 /** Subsystem for the mailbox that outputs game pieces from our robot. */
 public class Mailbox extends SubsystemBase {
+
+  /** Limit switch that detects when the mailbox is raised. */
+  private DigitalInput limitSwitch;
+
   /** Creates a new Mailbox. */
-  public Mailbox() {}
+  public Mailbox() {
+    this.limitSwitch = new DigitalInput(Constants.Mailbox.MAILBOX_LIMIT_SWITCH_DIO_PORT);
+  }
+
+  /**
+   * Gets the Mailbox Limit Switch's Value.
+   *
+   * @return True if the mailbox is fully raised. False otherwise.
+   */
+  public boolean getLimitSwitch() {
+    /* Assumes the limit switch is wired to be normally open. */
+    return limitSwitch.get();
+  }
 
   @Override
   public void periodic() {