Skip to content

Ball sensor #11

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
COREProgrammers wants to merge 3 commits into
base: master
Choose a base branch
from
Open

Ball sensor #11

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
fa2419c
Created Ball sensor code
COREProgrammers Mar 8, 2020
bf9701d
changes to test the ball sensor
COREProgrammers Mar 8, 2020
420e8c2
Merge branch 'master' into ball-sensor
COREProgrammers Mar 11, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
50 changes: 34 additions & 16 deletions src/ConveyorSubsystem.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -22,27 +22,45 @@ void ConveyorSubsystem::robotInit(){
operatorJoystick->RegisterButton(CORE::COREJoystick::JoystickButton::RIGHT_BUTTON);
operatorJoystick->RegisterButton(CORE::COREJoystick::JoystickButton::LEFT_TRIGGER);
operatorJoystick->RegisterButton(CORE::COREJoystick::JoystickButton::LEFT_BUTTON);
operatorJoystick->RegisterButton(CORE::COREJoystick::JoystickButton::Y_BUTTON);
}

void ConveyorSubsystem::teleopInit() {}
void ConveyorSubsystem::teleopInit() {
m_autoConveyor = false;
}

void ConveyorSubsystem::teleop(){

if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_TRIGGER)) {
setLowerMotor(lowerConveyorSpeed.Get());
} else if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_BUTTON)) {
setLowerMotor(-lowerConveyorSpeed.Get());
} else {
setLowerMotor(0.0);
}

if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_TRIGGER)) {
setUpperMotor(upperConveyorSpeed.Get());
} else if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_BUTTON)) {
setUpperMotor(-upperConveyorSpeed.Get());
} else {
setUpperMotor(0.0);
bool ballDetected = m_input.Get();
frc::SmartDashboard::PutBoolean("Ball Detected", ballDetected);

if (operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::Y_BUTTON)) {
if (ballDetected){
setLowerMotor(-lowerConveyorSpeed.Get());
setUpperMotor(-upperConveyorSpeed.Get());
} else {
setLowerMotor(0.0);
setUpperMotor(0.0);
}
m_autoConveyor = true;
} else if (!operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::Y_BUTTON)) {
if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_TRIGGER)) {
setLowerMotor(lowerConveyorSpeed.Get());
} else if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_BUTTON)) {
setLowerMotor(-lowerConveyorSpeed.Get());
} else {
setLowerMotor(0.0);
}

if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_TRIGGER)) {
setUpperMotor(upperConveyorSpeed.Get());
} else if(operatorJoystick->GetButton(CORE::COREJoystick::JoystickButton::LEFT_BUTTON)) {
setUpperMotor(-upperConveyorSpeed.Get());
} else {
setUpperMotor(0.0);
}

}
frc::SmartDashboard::PutBoolean("Conveyor Auto Run", m_autoConveyor);
}

void ConveyorSubsystem::setLowerMotor(double lowerConveyorSpeed){
Expand Down
4 changes: 4 additions & 0 deletions src/ConveyorSubsystem.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,8 @@

#include <CORERobotLib.h>
#include <ctre/Phoenix.h>
#include <frc/smartdashboard/SmartDashboard.h>
#include <frc/DigitalInput.h>
#include "Config.h"

class ConveyorSubsystem : public CORESubsystem {
Expand All @@ -16,5 +18,7 @@ class ConveyorSubsystem : public CORESubsystem {
COREConstant<double> lowerConveyorSpeed, upperConveyorSpeed;
private:
TalonSRX m_lowerConveyorMotor, m_frontConveyorMotor, m_backConveyorMotor;
frc::DigitalInput m_input{0};
bool m_autoConveyor;
};

4 changes: 2 additions & 2 deletions src/IntakeSubsystem.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
#include "IntakeSubsystem.h"

IntakeSubsystem::IntakeSubsystem() :
intakeSpeed("Intake Speed", 0.45),
m_intakeMotor(INTAKE_PORT),
m_intakeSolenoid(LEFT_DRIVE_SHIFTER_PCM, INTAKE_DOWN_PORT, INTAKE_UP_PORT),
intakeSpeed("Intake Speed", 0.45){
m_intakeSolenoid(LEFT_DRIVE_SHIFTER_PCM, INTAKE_DOWN_PORT, INTAKE_UP_PORT){
}

void IntakeSubsystem::robotInit(){
Expand Down