Merge pull request #111 from frc937/clear-stick-faults

Clear stick faults

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

@@ -20,6 +20,7 @@
 import frc.robot.Controllers.Keymap;
 import frc.robot.commands.AimAndFireRoutine;
 import frc.robot.commands.AimWithLimelight;
+import frc.robot.commands.ClearPDPStickyFaults;
 import frc.robot.commands.ClimbDown;
 import frc.robot.commands.ClimbUp;
 import frc.robot.commands.DeployUrMom;
@@ -41,6 +42,7 @@
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.Limelight;
+import frc.robot.subsystems.PDP;
 import frc.robot.subsystems.UrMom;
 import frc.robot.subsystems.mailbox.Mailbox;
 import frc.robot.subsystems.mailbox.MailboxBelts;
@@ -85,6 +87,9 @@ public class RobotContainer {
   /** Singleton instance of {@link Climber} for the whole robot. */
   public static Climber climber = new Climber();
 
+  /** Singleton instance of {@link PDP} for the whole robot. */
+  public static PDP pdp = new PDP();
+
   /*
    * ************
    * * COMMANDS *
@@ -218,6 +223,9 @@ public class RobotContainer {
   /** Singleton instance of {@link TaxiAuto} for the whole robot. */
   public static TaxiAuto taxiAuto = new TaxiAuto();
 
+  /** Singleton instance of {@link ClearPDPStickyFaults} for the whole robot. */
+  public static ClearPDPStickyFaults clearPDPStickyFaults = new ClearPDPStickyFaults();
+
   /*
    * ***********************
    * * OTHER INSTANCE VARS *
@@ -233,6 +241,7 @@ public class RobotContainer {
   public RobotContainer() {
     configureBindings();
     configureAuto();
+    SmartDashboard.putData("Clear PDP sticky faults", clearPDPStickyFaults);
 
     drive.setDefaultCommand(driveRobotOriented);
   }

src/main/java/frc/robot/commands/ClearPDPStickyFaults.java

@@ -0,0 +1,48 @@
+// 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;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.RobotContainer;
+import frc.robot.subsystems.PDP;
+
+/** Clears the PDP's sticky faults */
+public class ClearPDPStickyFaults extends Command {
+
+  private PDP pdp;
+
+  /** Creates a new ClearPDPStickyFaults. */
+  public ClearPDPStickyFaults() {
+    this.pdp = RobotContainer.pdp;
+    addRequirements(this.pdp);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    pdp.clearStickyFaults();
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return true;
+  }
+}

src/main/java/frc/robot/subsystems/PDP.java

@@ -0,0 +1,36 @@
+// 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.subsystems;
+
+import edu.wpi.first.wpilibj.PowerDistribution;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+/** PDP of the robot */
+public class PDP extends SubsystemBase {
+
+  private PowerDistribution powerDistributionPanel;
+
+  /** Creates a new PDP. */
+  public PDP() {
+    this.powerDistributionPanel = new PowerDistribution();
+  }
+
+  /** Clears the sticky faults of the PDP */
+  public void clearStickyFaults() {
+    powerDistributionPanel.clearStickyFaults();
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}