Merge branch 'Trigger' into 27-handoff-command

Patribots4738 · Jan 23, 2024 · 5a9cf63 · 5a9cf63
2 parents f2b44bb + b0dc755
commit 5a9cf63
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Showing 3 changed files with 21 additions and 11 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -31,6 +31,7 @@ public class RobotContainer implements Logged {
     private final Intake intake;
     @SuppressWarnings("unused")
     private final DriverUI driverUI;
+    private final TriggerWheel triggerWheel;
 
     private final Limelight limelight;
     private final Climb climb;
@@ -48,6 +49,7 @@ public RobotContainer() {
         swerve = new Swerve();
         driverUI = new DriverUI();
         triggerWheel = new TriggerWheel();
+<<<<<<< HEAD
 
         limelight.setDefaultCommand(Commands.run(() -> {
             // Create an "Optional" object that contains the estimated pose of the robot
@@ -63,6 +65,8 @@ public RobotContainer() {
                         DriverUI.currentTimestamp - limelight.getCombinedLatencySeconds());
             }
         }, limelight));
+=======
+>>>>>>> Trigger
 
         swerve.setDefaultCommand(new Drive(
             swerve,

diff --git a/src/main/java/frc/robot/subsystems/TriggerWheel.java b/src/main/java/frc/robot/subsystems/TriggerWheel.java
@@ -3,26 +3,26 @@
 import com.revrobotics.CANSparkLowLevel.PeriodicFrame;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import edu.wpi.first.wpilibj2.command.button.Trigger;
+import java.util.function.BooleanSupplier;
+import frc.robot.util.Constants.IntakeConstants;
 import frc.robot.util.Neo;
 import java.util.Optional;
-import frc.robot.util.Constants.TriggerWheelConstants;
 
 public class TriggerWheel extends SubsystemBase {
     private final Neo triggerWheel;
-    private Optional<boolean> whichWay;
+    private Optional<Boolean> whichWay;
     private BooleanSupplier hasPiece;
 
     public TriggerWheel() {
-        TriggerWheel = new Neo(TriggerWheelConstants.TRIGGER_WHEEL_CAN_ID);
+        triggerWheel = new Neo(IntakeConstants.TRIGGER_WHEEL_CAN_ID);
         whichWay = Optional.empty();
         hasPiece = () -> false; 
         configMotor();
     }
 
     public void configMotor() {
         // See https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces      
-        triggerWheel.setSmartCurrentLimit(TriggerWheelConstants.TRIGGERWHEEL_STALL_CURRENT_LIMIT_AMPS, TriggerWheelConstants.TRIGGERWHEEL_FREE_CURRENT_LIMIT_AMPS);
+        triggerWheel.setSmartCurrentLimit(IntakeConstants.TRIGGER_WHEEL_STALL_CURRENT_LIMIT_AMPS, IntakeConstants.TRIGGER_WHEEL_FREE_CURRENT_LIMIT_AMPS);
         triggerWheel.setPeriodicFramePeriod(PeriodicFrame.kStatus3, 65535);
         triggerWheel.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 65535);
         triggerWheel.setInverted(false);
@@ -31,30 +31,30 @@ public void configMotor() {
         triggerWheel.setBrakeMode();
     }    
 
-    public Optional<boolean> whichWay(){ 
+    public Optional<Boolean> whichWay(){ 
         return whichWay;
     }
 
     public Command toShooter() {
         whichWay = Optional.ofNullable(true);
-        return runOnce(() -> triggerWheel.set(TriggerWheelConstants.SHOOTER_TRIGGER_WHEEL_SPEED));
+        return runOnce(() -> triggerWheel.set(IntakeConstants.SHOOTER_TRIGGER_WHEEL_SPEED));
     }
 
     public Command toTrap() {
         whichWay = Optional.ofNullable(false);
-        return runOnce(() -> triggerWheel.set(TriggerWheelConstants.TRAP_TRIGGER_WHEEL_SPEED));
+        return runOnce(() -> triggerWheel.set(IntakeConstants.TRAP_TRIGGER_WHEEL_SPEED));
     }
 
     public Command stopCommand() {
         whichWay = Optional.empty();
-        return runOnce(() -> triggerWheel.set(TriggerWheelConstants.STOP_SPEED));
+        return runOnce(() -> triggerWheel.set(IntakeConstants.STOP_SPEED));
     }
 
     public BooleanSupplier hasPiece() {
-        return hasPiece;
+        return this.hasPiece;
     }
 
     public void setHasPiece(boolean hasPiece) {
-        hasPiece = () -> hasPiece;
+        this.hasPiece = () -> hasPiece;
     }
 }
diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -306,6 +306,12 @@ public static final class IntakeConstants {
         public static final int INTAKE_STALL_CURRENT_LIMIT_AMPS = 7;
 
         public static final int HAS_PIECE_CURRENT_THRESHOLD = 20;
+
+        // TODO: Add these to the robot
+        public static final int TRIGGER_WHEEL_STALL_CURRENT_LIMIT_AMPS = 0;
+        public static final int TRIGGER_WHEEL_FREE_CURRENT_LIMIT_AMPS = 0;
+        public static final double SHOOTER_TRIGGER_WHEEL_SPEED = 0;
+        public static final double TRAP_TRIGGER_WHEEL_SPEED = 0;
     }
 
     public static final class FieldConstants {