Subsystem interfaces + methods

added some methods and motor controllers to Lift, Intake, and Climber

Author: kaytay7430

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

@@ -41,9 +41,9 @@ public class RobotMap {
 	// public static int rangefinderPort = 1;
 	// public static int rangefinderModule = 1;
 
-	public static SpeedController intakeMotors;
-	public static SpeedController liftMotors;
-	public static SpeedController climberMotors;
+	public static WPI_TalonSRX intakeMotor;
+	public static WPI_TalonSRX liftMotor;
+	public static WPI_TalonSRX climberMotor;
 
 	public static Encoder leftEnc;
 	public static WPI_TalonSRX dtLeftDrive;
@@ -96,12 +96,12 @@ private void configSPX(WPI_VictorSPX mc) {
 
 	public RobotMap() {
 
-		intakeMotors = new WPI_TalonSRX(getPort("IntakeTalonSRX", 4));
-		configSRX((WPI_TalonSRX) intakeMotors);
-		liftMotors = new WPI_TalonSRX(getPort("LiftTalonSRX", 5));
-		configSRX((WPI_TalonSRX) liftMotors);
-		climberMotors = new WPI_TalonSRX(getPort("ClimberTalonSRX", 6));
-		configSRX((WPI_TalonSRX) climberMotors);
+		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));

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

@@ -4,13 +4,14 @@
 
 import org.usfirst.frc.team199.Robot2018.RobotMap;
 
-import edu.wpi.first.wpilibj.SpeedController;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 /**
  *
  */
 public class Climber extends Subsystem implements ClimberInterface {
 
-	private final SpeedController climberMotors = RobotMap.climberMotors;
+	private final WPI_TalonSRX climberMotor = RobotMap.climberMotor;
 
 
 	/**
@@ -25,12 +26,10 @@ public void initDefaultCommand() {
 
 
     /**
+	 * runs the motors
 	 * 
 	 */
-	public void runClimber() {
-		attachToLift();
-		attachToBar();
-		goUp();
+	public void runClimber(double speed) {
 
 	}
 
@@ -42,13 +41,6 @@ public void attachToLift() {
 
 	}
 
-	/**
-	 * winches upwards
-	 */
-	public void goUp() {
-		
-	}
-	
 	/**
 	 * attaches hook to bar and releases it from the lift
 	 */
@@ -60,7 +52,7 @@ public void attachToBar() {
 	 * stops the climber
 	 */
 	public void stopClimber() {
-		climberMotors.stopMotor();
+		climberMotor.stopMotor();
 	}
 
 

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

@@ -8,21 +8,16 @@ public interface ClimberInterface {
 	public void initDefaultCommand();
 
 	/**
-	 * 
+	 * runs the motors
 	 */
-	public void runClimber();
+	public void runClimber(double speed);
 
 	/**
 	 * attaches the climber hook to the lift.
 	 * Requires that Lift is on the ground
 	 */
 	public void attachToLift();
 
-	/**
-	 * winches upwards
-	 */
-	public void goUp();
-	
 	/**
 	 * attaches hook to bar and releases it from the lift
 	 */

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

@@ -2,15 +2,16 @@
 
 import org.usfirst.frc.team199.Robot2018.RobotMap;
 
-import edu.wpi.first.wpilibj.SpeedController;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
  *
  */
 public class IntakeEject extends Subsystem implements IntakeEjectInterface {
 
-	private final SpeedController intakeMotors = RobotMap.intakeMotors;
+	private final WPI_TalonSRX intakeMotor = RobotMap.intakeMotor;
 
 
 
@@ -25,15 +26,15 @@ public void initDefaultCommand() {
     /**
 	 * returns current motor value
 	 */
-	public double getIntake() {
-		return intakeMotors.get();
+	public double getIntakeSpeed() {
+		return intakeMotor.get();
 	}
 
 	/**
 	 * Uses (insert sensor here) to detect 
 	 * a cube in front of the robot.
 	 */
-	public boolean detectCube() {
+	public boolean seeCube() {
 		return false;
 	}
 
@@ -51,7 +52,7 @@ public boolean hasCube() {
 	 * 
 	 */
 	public void stopIntake() {
-		intakeMotors.stopMotor();
+		intakeMotor.stopMotor();
 	}
 
 	/**

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

@@ -10,13 +10,13 @@ public interface IntakeEjectInterface {
 	/**
 	 * returns current motor value
 	 */
-	public double getIntake();
+	public double getIntakeSpeed();
 
 	/**
 	 * Uses (insert sensor here) to detect 
 	 * a cube in front of the robot.
 	 */
-	public boolean detectCube();
+	public boolean seeCube();
 
 	/**
 	 * Uses (insert sensor here) to detect if 

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

@@ -2,15 +2,18 @@
 
 import org.usfirst.frc.team199.Robot2018.RobotMap;
 
-import edu.wpi.first.wpilibj.SpeedController;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
 import edu.wpi.first.wpilibj.command.Subsystem;
 
 /**
  *
  */
 public class Lift extends Subsystem implements LiftInterface {
 
-	private final SpeedController liftMotors = RobotMap.liftMotors;
+	private final WPI_TalonSRX liftMotor = RobotMap.liftMotor;
+	
+	private Position targetPosition = Position.GROUND;
 
 	/**
 	 * Set the default command for a subsystem here.
@@ -19,56 +22,41 @@ public void initDefaultCommand() {
         // Set the default command for a subsystem here.
         //setDefaultCommand(new MySpecialCommand());
     }
+    
+    public void setTargetPosition(Position newPosition) {
+    		targetPosition = newPosition;
+    }
 
     /**
-	 * Uses (insert sensor here) to detect the distance above the ground
+	 * Uses (insert sensor here) to detect the current lift position 
 	 */
-	public double getDistance() {
+	public double getHeight() {
 		return -1;
 	}
 
 	/**
 	 * stops the lift
 	 */
 	public void stopLift() {
-		liftMotors.stopMotor();
+		liftMotor.stopMotor();
 	}
 
 	/**
 	 * gets current motor values
 	 */
-	public double getLift() {
-		return liftMotors.get();
+	public double getLiftSpeed() {
+		return liftMotor.get();
 	}
 
 	/**
-	 * goes to the bottom
+	 * Goes to specified height
+	 * @param position - ground, switch, scale, bar
+	 * @param offset - distance up or down from the position
 	 */
-	public void goToGround() {
+	public void goToPosition(Position position, double offset) {
 
 	}
 
-	/**
-	 * goes to switch height
-	 */
-	public void goToSwitch() {
-		
-	}
-	
-	/**
-	 * goes to scale height
-	 * @param offset - the distance up or down from standard scale height
-	 */
-	public void goToScale(double offset) {
-		
-	}
-	
-	/**
-	 * goes to bar height
-	 */
-	public void goToBar() {
-		
-	}
 
 }
 

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

@@ -7,10 +7,17 @@ public interface LiftInterface {
 	 * */
 	public void initDefaultCommand();
 
+	public enum Position {
+		GROUND,
+		SWITCH,
+		SCALE,
+		BAR
+	}
+	
 	/**
-	 * Uses (insert sensor here) to detect the distance above the ground
+	 * Uses (insert sensor here) to detect the current lift position 
 	 */
-	public double getDistance();
+	public double getHeight();
 
 	/**
 	 * stops the lift
@@ -20,27 +27,15 @@ public interface LiftInterface {
 	/**
 	 * gets current motor values
 	 */
-	public double getLift();
-	
-	/**
-	 * goes to the bottom
-	 */
-	public void goToGround();
+	public double getLiftSpeed();
 
-	/**
-	 * goes to switch height
-	 */
-	public void goToSwitch();
 
 	/**
-	 * goes to scale height
-	 * @param offset - the distance up or down from standard scale height
+	 * Goes to specified height
+	 * @param position - ground, switch, scale, bar
+	 * @param offset - distance up or down from position
 	 */
-	public void goToScale(double offset);
+	public void goToPosition(Position position, double offset);
 
-	/**
-	 * goes to bar height
-	 */
-	public void goToBar();
 
 }