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(UNTESTED) created an elastic button that makes elevator coast #50

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(UNTESTED) created an elastic button that makes elevator coast #50

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12 changes: 12 additions & 0 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -490,6 +490,7 @@ public void disabledInit() {
m_autonomousCommand = autonCmdBuilder(waltAutonFactory.get().generateAuton().cmd());

WaltAutonBuilder.initialize();
elevator.initialize();
}

@Override
Expand All @@ -499,6 +500,17 @@ public void disabledPeriodic() {
} else {
Constants.kTestingAutonOnCart = false;
}


if (Elevator.sub_makeCoast.getAsBoolean()) {
if (!elevator.m_isCoast) {
elevator.setCoast(true);
}
} else {
elevator.setCoast(false);
}

// concern: if ele is set to coast before match starts, does starting

if (!autonMade) {
// ALL OF THE COMMENTED OUT ITEMS ARE FOR DEBUGGING THE PUBLISHER BOOLEAN VALUES
Expand Down
23 changes: 21 additions & 2 deletions src/main/java/frc/robot/subsystems/Elevator.java
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,11 @@
import edu.wpi.first.math.filter.Debouncer.DebounceType;
import edu.wpi.first.math.system.plant.DCMotor;
import edu.wpi.first.networktables.BooleanEntry;
import edu.wpi.first.networktables.BooleanPublisher;
import edu.wpi.first.networktables.BooleanSubscriber;
import edu.wpi.first.networktables.BooleanTopic;
import edu.wpi.first.networktables.NetworkTable;
import edu.wpi.first.networktables.NetworkTableInstance;
import edu.wpi.first.networktables.PubSubOption;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj.Servo;
Expand Down Expand Up @@ -62,6 +67,13 @@ public class Elevator extends SubsystemBase {
private final StatusSignal<Double> m_closedLoopErrSignal = m_frontMotor.getClosedLoopError();
private final StatusSignal<Angle> m_rotationsSignal = m_frontMotor.getPosition();

public static NetworkTableInstance nte_inst = NetworkTableInstance.getDefault();
public static NetworkTable nte_elevator = nte_inst.getTable("Elevator");

public static BooleanTopic BT_makeCoast = nte_inst.getBooleanTopic("/Elevator/makeCoast");
public static BooleanPublisher pub_makeCoast;
public static BooleanSubscriber sub_makeCoast;

private boolean m_isHomed = false;
private Debouncer m_currentDebouncer = new Debouncer(0.125, DebounceType.kRising);
private Debouncer m_velocityDebouncer = new Debouncer(0.125, DebounceType.kRising);
Expand All @@ -87,7 +99,7 @@ public final Trigger remoteAtSetpointTrigger(EventLoop remoteLoop, double rotati

private VoltageOut m_voltageCtrlReq = new VoltageOut(0);

private boolean m_isCoast = false;
public boolean m_isCoast = false;
private BooleanEntry nte_coast = WaltLogger.booleanItem(kLogTab, "isCoast");


Expand Down Expand Up @@ -174,7 +186,7 @@ public Elevator() {
setDefaultCommand(currentSenseHoming());
}

private void setCoast(boolean coast) {
public void setCoast(boolean coast) {
if (m_isCoast != coast) {
m_isCoast = coast;
m_frontMotor.setNeutralMode(coast ? NeutralModeValue.Coast : NeutralModeValue.Brake);
Expand Down Expand Up @@ -291,6 +303,13 @@ public boolean getIsHomed() {
return m_isHomed;
}

public void initialize() {
pub_makeCoast = BT_makeCoast.publish();
sub_makeCoast = BT_makeCoast.subscribe(false);

pub_makeCoast.setDefault(false);
}

@Override
public void periodic() {

Expand Down