kate's changes to my remote repo

Author: lhmcgann

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Climber.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/subsystems/ClimberInterface.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/IntakeEject.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/IntakeEjectInterface.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);
+	
+	
 }

Robot2018/src/org/usfirst/frc/team199/Robot2018/subsystems/Lift.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 Lift extends Subsystem implements LiftInterface {
 
-    // Put methods for controlling this subsystem
-    // here. Call these from Commands.
+	private final WPI_TalonSRX liftMotor = RobotMap.liftMotor;
+	
+	private Position targetPosition = Position.GROUND;
 
 	/**
 	 * Set the default command for a subsystem here.
@@ -17,5 +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 current lift position 
+	 */
+	public double getHeight() {
+		return -1;
+	}
+	
+	/**
+	 * stops the lift
+	 */
+	public void stopLift() {
+		liftMotor.stopMotor();
+	}
+	
+	/**
+	 * gets current motor values
+	 */
+	public double getLiftSpeed() {
+		return liftMotor.get();
+	}
+	
+	/**
+	 * Goes to specified height
+	 * @param position - ground, switch, scale, bar
+	 * @param offset - distance up or down from the position
+	 */
+	public void goToPosition(Position position, double offset) {
+		
+	}
+	
+	
 }
 

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

@@ -7,4 +7,35 @@ public interface LiftInterface {
 	 * */
 	public void initDefaultCommand();
 
+	public enum Position {
+		GROUND,
+		SWITCH,
+		SCALE,
+		BAR
+	}
+	
+	/**
+	 * Uses (insert sensor here) to detect the current lift position 
+	 */
+	public double getHeight();
+	
+	/**
+	 * stops the lift
+	 */
+	public void stopLift();
+	
+	/**
+	 * gets current motor values
+	 */
+	public double getLiftSpeed();
+	
+	
+	/**
+	 * Goes to specified height
+	 * @param position - ground, switch, scale, bar
+	 * @param offset - distance up or down from position
+	 */
+	public void goToPosition(Position position, double offset);
+	
+	
 }