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Merge pull request #17 from frc937/intake
Intake
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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; | ||
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import edu.wpi.first.wpilibj2.command.Command; | ||
import frc.robot.RobotContainer; | ||
import frc.robot.subsystems.Intake; | ||
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public class RunIntake extends Command { | ||
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private Intake intake; | ||
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/** Creates a new RunIntake. */ | ||
public RunIntake() { | ||
this.intake = RobotContainer.intake; | ||
addRequirements(intake); | ||
} | ||
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// Called when the command is initially scheduled. | ||
@Override | ||
public void initialize() { | ||
intake.runIntake(); | ||
} | ||
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// Called every time the scheduler runs while the command is scheduled. | ||
@Override | ||
public void execute() {} | ||
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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 intake.getLimitSwitch(); | ||
} | ||
} |
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Original file line number | Diff line number | Diff line change |
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@@ -0,0 +1,53 @@ | ||
// 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.subsystems; | ||
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import com.revrobotics.CANSparkLowLevel.MotorType; | ||
import com.revrobotics.CANSparkMax; | ||
import edu.wpi.first.wpilibj.DigitalInput; | ||
import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
import frc.robot.Constants; | ||
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/** The intake of the robot. */ | ||
public class Intake extends SubsystemBase { | ||
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private CANSparkMax intake; | ||
private DigitalInput limitSwitch; | ||
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/** Creates a new Intake. */ | ||
public Intake() { | ||
this.intake = new CANSparkMax(Constants.Intake.INTAKE_MOTOR_ID, MotorType.kBrushless); | ||
this.limitSwitch = new DigitalInput(Constants.Intake.INTAKE_LIMIT_SWITCH_DIO_PORT); | ||
} | ||
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/** Runs the intake motors. */ | ||
public void runIntake() { | ||
intake.set(Constants.Intake.INTAKE_MOTOR_SPEED); | ||
} | ||
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/** | ||
* Returns a boolean value on whether or not the Limit Switch (for the intake) has been activated. | ||
*/ | ||
public boolean getLimitSwitch() { | ||
return limitSwitch.get(); | ||
} | ||
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/** Stops the intake motors. */ | ||
public void stop() { | ||
intake.set(0); | ||
} | ||
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@Override | ||
public void periodic() { | ||
// This method will be called once per scheduler run | ||
} | ||
} |