Merge pull request #39 from kaytay7430/master

set up subsystem interfaces

Author: lhmcgann

Robot2018/src/org/usfirst/frc/team199/Robot2018/RobotMap.java

@@ -7,6 +7,9 @@
 
 package org.usfirst.frc.team199.Robot2018;
 
+
+import edu.wpi.first.wpilibj.SpeedController;
+
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
 import com.kauailabs.navx.frc.AHRS;
@@ -20,6 +23,7 @@
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
+
 /**
  * The RobotMap is a mapping from the ports sensors and actuators are wired into
  * to a variable name. This provides flexibility changing wiring, makes checking
@@ -36,7 +40,11 @@ public class RobotMap {
 	// number and the module. For example you with a rangefinder:
 	// public static int rangefinderPort = 1;
 	// public static int rangefinderModule = 1;
-
+	
+	public static WPI_TalonSRX intakeMotor;
+	public static WPI_TalonSRX liftMotor;
+	public static WPI_TalonSRX climberMotor;
+	
 	public static Encoder leftEnc;
 	public static WPI_TalonSRX dtLeftDrive;
 	public static WPI_VictorSPX dtLeftSlave;
@@ -87,6 +95,13 @@ private void configSPX(WPI_VictorSPX mc) {
 	}
 
 	public RobotMap() {
+		
+		intakeMotor = new WPI_TalonSRX(getPort("IntakeTalonSRX", 4));
+		configSRX(intakeMotor);
+		liftMotor = new WPI_TalonSRX(getPort("LiftTalonSRX", 5));
+		configSRX(liftMotor);
+		climberMotor = new WPI_TalonSRX(getPort("ClimberTalonSRX", 6));
+		configSRX(climberMotor);
 
 		leftEnc = new Encoder(getPort("1LeftEnc", 0), getPort("2LeftEnc", 1));
 		dtLeftDrive = new WPI_TalonSRX(getPort("LeftTalonSRXDrive", 0));
@@ -161,4 +176,5 @@ public int getPort(String key, int def) {
 		}
 		return (int) SmartDashboard.getNumber("Port/" + key, def);
 	}
+
 }

Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/TalonVelocityController.java

@@ -2,13 +2,17 @@
 
 import edu.wpi.first.wpilibj.command.Subsystem;
 
+import org.usfirst.frc.team199.Robot2018.RobotMap;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 /**
  *
  */
 public class Climber extends Subsystem implements ClimberInterface {
 
-    // Put methods for controlling this subsystem
-    // here. Call these from Commands.
+	private final WPI_TalonSRX climberMotor = RobotMap.climberMotor;
+	
 
 	/**
 	 * Set the default command for a subsystem here.
@@ -17,5 +21,40 @@ public void initDefaultCommand() {
         // Set the default command for a subsystem here.
         //setDefaultCommand(new MySpecialCommand());
     }
+    
+    
+   
+
+    /**
+	 * runs the motors
+	 * 
+	 */
+	public void runClimber(double speed) {
+		
+	}
+	
+	/**
+	 * attaches the climber hook to the lift.
+	 * Requires that Lift is on the ground
+	 */
+	public void attachToLift() {
+		
+	}
+	
+	/**
+	 * attaches hook to bar and releases it from the lift
+	 */
+	public void attachToBar() {
+		
+	}
+	
+	/**
+	 * stops the climber
+	 */
+	public void stopClimber() {
+		climberMotor.stopMotor();
+	}
+
+	
 }
 

Robot2018/src/org/usfirst/frc/team199/Robot2018/autonomous/VelocityPIDController.java

@@ -7,4 +7,26 @@ public interface ClimberInterface {
 	 * */
 	public void initDefaultCommand();
 
+	/**
+	 * runs the motors
+	 */
+	public void runClimber(double speed);
+	
+	/**
+	 * attaches the climber hook to the lift.
+	 * Requires that Lift is on the ground
+	 */
+	public void attachToLift();
+	
+	/**
+	 * attaches hook to bar and releases it from the lift
+	 */
+	public void attachToBar();
+	
+	/**
+	 * stops the climber
+	 */
+	public void stopClimber();
+
+	
 }

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Climber.java

@@ -1,14 +1,19 @@
 package org.usfirst.frc.team199.Robot2018.subsystems;
 
+import org.usfirst.frc.team199.Robot2018.RobotMap;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
  *
  */
 public class IntakeEject extends Subsystem implements IntakeEjectInterface {
-
-    // Put methods for controlling this subsystem
-    // here. Call these from Commands.
+	
+	private final WPI_TalonSRX intakeMotor = RobotMap.intakeMotor;
+	
+	
 
 	/**
 	 * Set the default command for a subsystem here.
@@ -17,5 +22,46 @@ public void initDefaultCommand() {
         // Set the default command for a subsystem here.
         //setDefaultCommand(new MySpecialCommand());
     }
+
+    /**
+	 * returns current motor value
+	 */
+	public double getIntakeSpeed() {
+		return intakeMotor.get();
+	}
+	
+	/**
+	 * Uses (insert sensor here) to detect 
+	 * a cube in front of the robot.
+	 */
+	public boolean seeCube() {
+		return false;
+	}
+	
+	/**
+	 * Uses (insert sensor here) to detect if 
+	 * the cube is currently inside the robot
+	 * 
+	 */
+	public boolean hasCube() {
+		return false;
+	}
+	
+	/**
+	 * stops the motors
+	 * 
+	 */
+	public void stopIntake() {
+		intakeMotor.stopMotor();
+	}
+	
+	/**
+	 * Spins the rollers
+	 * @param speed - positive -> rollers in, negative -> rollers out
+	 */
+	public void runIntake(double speed) {
+		
+	}
+	
 }
 

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/ClimberInterface.java

@@ -7,4 +7,35 @@ public interface IntakeEjectInterface {
 	 * */
 	public void initDefaultCommand();
 
+	/**
+	 * returns current motor value
+	 */
+	public double getIntakeSpeed();
+	
+	/**
+	 * Uses (insert sensor here) to detect 
+	 * a cube in front of the robot.
+	 */
+	public boolean seeCube();
+	
+	/**
+	 * Uses (insert sensor here) to detect if 
+	 * the cube is currently inside the robot
+	 * 
+	 */
+	public boolean hasCube();
+	
+	/**
+	 * stops the motors
+	 * 
+	 */
+	public void stopIntake();
+	
+	/**
+	 * Spins the rollers
+	 * @param speed - positive -> rollers in, negative -> rollers out
+	 */
+	public void runIntake(double speed);
+	
+	
 }