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Merge pull request #1 from Spectrum3847/Dripping-Springs
Dripping springs Updates, merge into main
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,57 +1,67 @@ | ||
| package frc.robot.commands; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.RunCommand; | ||
| import edu.wpi.first.wpilibj2.command.WaitCommand; | ||
| import frc.robot.Robot; | ||
| import frc.robot.constants.ClimberConstants; | ||
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| public class ClimberCommands { | ||
| /* Climber Sequence | ||
| * 1. fullUp | ||
| * 2. climb | ||
| * 3. nextRungExtend | ||
| * 4. nextRungUp | ||
| * Repeat 2-4. | ||
| */ | ||
| /* | ||
| * Climber Sequence | ||
| * 1. fullUp | ||
| * 2. climb | ||
| * 3. nextRungExtend | ||
| * 4. nextRungUp | ||
| * Repeat 2-4. | ||
| */ | ||
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| //Put the climber fully up, used to grab the mid bar | ||
| public static Command fullUp(){ | ||
| return tiltUp().alongWith(extendFull()); | ||
| // Put the climber fully up, used to grab the mid bar | ||
| public static Command fullUp() { | ||
| return extendFull().alongWith(new WaitCommand(0.5).andThen(tiltUp())); | ||
| } | ||
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| //Put the climber partially out and tilted up, used to grab the next rung | ||
| public static Command nextRungUp(){ | ||
| // Put the climber partially out and tilted up, used to grab the next rung | ||
| public static Command nextRungUp() { | ||
| return tiltUp().alongWith(extendNextRung()); | ||
| } | ||
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| //pull the climber down, used to climb to mid bar, and from rung to rung | ||
| public static Command climb(){ | ||
| return tiltDown().alongWith(pull()); | ||
| public static Command nextRungDown(){ | ||
| return extendNextRung().alongWith(releaseRung()); | ||
| } | ||
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| // pull the climber down, used to climb to mid bar, and from rung to rung | ||
| public static Command climb() { | ||
| return pull().alongWith(new WaitCommand(0.1).andThen(tiltDown())); | ||
| } | ||
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| // release rung | ||
| public static Command releaseRung() { | ||
| return tiltUp().withTimeout(0.2).andThen(tiltDown()); | ||
| } | ||
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| public static Command extendFull(){ | ||
| public static Command extendFull() { | ||
| return toPosition(ClimberConstants.fullExtend); | ||
| } | ||
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| //Used to extend before tilting up to grab the next rung | ||
| public static Command extendNextRung(){ | ||
| // Used to extend before tilting up to grab the next rung | ||
| public static Command extendNextRung() { | ||
| return toPosition(ClimberConstants.nextRungExtend); | ||
| } | ||
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| public static Command pull(){ | ||
| public static Command pull() { | ||
| return toPosition(ClimberConstants.fullRetract); | ||
| } | ||
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| public static Command toPosition(double position){ | ||
| return new RunCommand(()-> Robot.climber.setMMPosition(position), Robot.climber); | ||
| public static Command toPosition(double position) { | ||
| return new RunCommand(() -> Robot.climber.setMMPosition(position), Robot.climber); | ||
| } | ||
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| public static Command tiltUp(){ | ||
| return new RunCommand(()-> Robot.climber.tiltUp(), Robot.climber.pneumatic); | ||
| public static Command tiltUp() { | ||
| return new RunCommand(() -> Robot.climber.tiltUp(), Robot.climber.pneumatic); | ||
| } | ||
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| public static Command tiltDown(){ | ||
| return new RunCommand(()-> Robot.climber.tiltDown(), Robot.climber.pneumatic); | ||
| public static Command tiltDown() { | ||
| return new RunCommand(() -> Robot.climber.tiltDown(), Robot.climber.pneumatic); | ||
| } | ||
| } |
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