Update Pneumatics Code to Use Spikes

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

@@ -37,17 +37,8 @@ public static final class Mailbox {
 
   /** Constants for the Pneumatics system. */
   public static final class MailboxPneumatics {
-    /** The channel on the PCM for the forward direction on the left solenoid. */
-    public static final int LEFT_SOLENOID_FORWARD_CHANNEL = 5;
-
-    /** The channel on the PCM for the reverse direction on the left solenoid. */
-    public static final int LEFT_SOLENOID_REVERSE_CHANNEL = 4;
-
-    /** The channel on the PCM for the forward direction on the right solenoid. */
-    public static final int RIGHT_SOLENOID_FORWARD_CHANNEL = 7;
-
-    /** The channel on the PCM for the reverse direction on the right solenoid. */
-    public static final int RIGHT_SOLENOID_REVERSE_CHANNEL = 6;
+    /** The ID for the relay that controls the mailbox's solenoids */
+    public static final int MAILBOX_SOLENOID_RELAY_ID = 0;
   }
 
   /** Constants for the Belts system. */
@@ -234,4 +225,19 @@ public static final class Camera {
     /** The camera id for the intake camera. */
     public static final int INTAKE_CAMERA_ID = 0;
   }
+
+  /** The constants for the Compressor */
+  public static final class Compressor {
+    /** The DIO port for the pressure switch. */
+    public static final int PRESSURE_SWITCH_DIO_PORT = 9;
+
+    /** The relay port for the compressor */
+    public static final int COMPRESSOR_RELAY_PORT = 0;
+
+    /**
+     * How many periodic loops do we want to wait for to turn off the compressor. Used to prevent
+     * rapidly turning on and off the compressor.
+     */
+    public static final int COMPRESSOR_PRESSURE_SWITCH_DEADBAND = 100; /* = 2 Seconds */
+  }
 }

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

@@ -23,6 +23,7 @@
 import frc.robot.commands.ClearPDPStickyFaults;
 import frc.robot.commands.ClimbDown;
 import frc.robot.commands.ClimbUp;
+import frc.robot.commands.ControlCompressor;
 import frc.robot.commands.DeployUrMom;
 import frc.robot.commands.EnterXMode;
 import frc.robot.commands.RunIntake;
@@ -45,6 +46,7 @@
 import frc.robot.commands.mailbox.RunBelts;
 import frc.robot.subsystems.Camera;
 import frc.robot.subsystems.Climber;
+import frc.robot.subsystems.Compressor;
 import frc.robot.subsystems.Drive;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.Limelight;
@@ -99,6 +101,9 @@ public class RobotContainer {
   /** Singleton instance of the intake {@link Camera} for the whole robot. */
   public static Camera intakeCamera = new Camera(Constants.Camera.INTAKE_CAMERA_ID);
 
+  /** Singleton instance of the intake {@link Compressor} for the whole robot. */
+  public static Compressor compressor = new Compressor();
+
   /*
    * ************
    * * COMMANDS *
@@ -257,6 +262,9 @@ public class RobotContainer {
   /** Singleton instance of {@link ZeroGyro} for the whole robot. */
   public static ZeroGyro zeroGyro = new ZeroGyro();
 
+  /** Singleton instance of {@link ControlCompressor} for the whole robot. */
+  public static ControlCompressor controlCompressor = new ControlCompressor();
+
   /*
    * ***********************
    * * OTHER INSTANCE VARS *
@@ -286,6 +294,7 @@ public RobotContainer() {
     startIntakeCamera.schedule();
 
     drive.setDefaultCommand(driveFieldOrientedHeadingSnapping);
+    compressor.setDefaultCommand(controlCompressor);
   }
 
   private void configureAuto() {

src/main/java/frc/robot/commands/ControlCompressor.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;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants;
+import frc.robot.RobotContainer;
+import frc.robot.subsystems.Compressor;
+
+/** Keeps the compressor at the pressure the pressure switch looks for. */
+public class ControlCompressor extends Command {
+  private Compressor compressor;
+  private int callsAtPressure = 0;
+
+  /** Create a new ControlCompressor */
+  public ControlCompressor() {
+    compressor = RobotContainer.compressor;
+    addRequirements(compressor);
+  }
+
+  // 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 (compressor.isAtPressure()) {
+      callsAtPressure++;
+    } else {
+      callsAtPressure = Math.max(0, callsAtPressure - 1);
+    }
+    if (callsAtPressure < Constants.Compressor.COMPRESSOR_PRESSURE_SWITCH_DEADBAND) {
+      compressor.activateCompressor();
+    } else {
+      compressor.disableCompressor();
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    compressor.disableCompressor();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,64 @@
+// 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.DigitalInput;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj.Relay;
+import edu.wpi.first.wpilibj.Relay.Value;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+/** The subsystem for the compressor */
+public class Compressor extends SubsystemBase {
+  private Relay compressorRelay;
+  private DigitalInput pressureSwitch;
+
+  /** Creates a new Compressor. */
+  public Compressor() {
+    this.compressorRelay = new Relay(Constants.Compressor.COMPRESSOR_RELAY_PORT);
+    this.pressureSwitch = new DigitalInput(Constants.Compressor.PRESSURE_SWITCH_DIO_PORT);
+  }
+
+  /**
+   * Activates the compressor.
+   *
+   * @return If the compressor was able to be turned on.
+   */
+  public boolean activateCompressor() {
+    if (!this.pressureSwitch.get()) {
+      this.compressorRelay.set(Value.kForward);
+      return true;
+    } else {
+      DriverStation.reportWarning(
+          "Warning: Attempted to activate compressor while pressure switch activated", false);
+      return false;
+    }
+  }
+
+  /** Disables the compressor. */
+  public void disableCompressor() {
+    this.compressorRelay.set(Relay.Value.kOff);
+  }
+
+  /**
+   * Returns true if the compressor is at pressure. False otherwise.
+   *
+   * @return true if the compressor is at pressure. False otherwise.
+   */
+  public boolean isAtPressure() {
+    return this.pressureSwitch.get();
+  }
+
+  @Override
+  public void periodic() {}
+}

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

@@ -11,8 +11,7 @@
 
 package frc.robot.subsystems.mailbox;
 
-import edu.wpi.first.wpilibj.DoubleSolenoid;
-import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
@@ -21,39 +20,26 @@
  * our robot
  */
 public class MailboxPneumatics extends SubsystemBase {
-  private DoubleSolenoid leftPiston;
-  private DoubleSolenoid rightPiston;
+  private Relay pneumaticsRelay;
 
   /** Constructor for the mailbox pneumatics subsystem. */
   public MailboxPneumatics() {
-    leftPiston =
-        new DoubleSolenoid(
-            PneumaticsModuleType.CTREPCM,
-            Constants.MailboxPneumatics.LEFT_SOLENOID_FORWARD_CHANNEL,
-            Constants.MailboxPneumatics.LEFT_SOLENOID_REVERSE_CHANNEL);
-    rightPiston =
-        new DoubleSolenoid(
-            PneumaticsModuleType.CTREPCM,
-            Constants.MailboxPneumatics.RIGHT_SOLENOID_FORWARD_CHANNEL,
-            Constants.MailboxPneumatics.RIGHT_SOLENOID_REVERSE_CHANNEL);
+    pneumaticsRelay = new Relay(Constants.MailboxPneumatics.MAILBOX_SOLENOID_RELAY_ID);
   }
 
   /** Lifts the mailbox. */
   public void extend() {
-    leftPiston.set(DoubleSolenoid.Value.kForward);
-    rightPiston.set(DoubleSolenoid.Value.kForward);
+    pneumaticsRelay.set(Relay.Value.kForward);
   }
 
   /** Lowers the mailbox. */
   public void retract() {
-    leftPiston.set(DoubleSolenoid.Value.kReverse);
-    rightPiston.set(DoubleSolenoid.Value.kReverse);
+    pneumaticsRelay.set(Relay.Value.kReverse);
   }
 
   /** Sets pistons to off */
   public void off() {
-    leftPiston.set(DoubleSolenoid.Value.kOff);
-    rightPiston.set(DoubleSolenoid.Value.kOff);
+    pneumaticsRelay.set(Relay.Value.kOff);
   }
 
   @Override