set up subsystem interfaces

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

Author: kaytay7430

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

@@ -1,5 +1,8 @@
 package org.usfirst.frc.team199.Robot2018;
 
+import edu.wpi.first.wpilibj.SpeedController;
+import edu.wpi.first.wpilibj.TalonSRX;
+
 /**
  * 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
@@ -16,4 +19,12 @@ 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 SpeedController intakeMotors = new TalonSRX(000000);
+	public static SpeedController liftMotors = new TalonSRX(000000);
+	public static SpeedController climberMotors = new TalonSRX(000000);
+	
+	
+	
+	
 }

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

@@ -2,13 +2,16 @@
 
 import edu.wpi.first.wpilibj.command.Subsystem;
 
+import org.usfirst.frc.team199.Robot2018.RobotMap;
+
+import edu.wpi.first.wpilibj.SpeedController;
 /**
  *
  */
 public class Climber extends Subsystem implements ClimberInterface {
 
-    // Put methods for controlling this subsystem
-    // here. Call these from Commands.
+	private final SpeedController climberMotors = RobotMap.climberMotors;
+	
 
 	/**
 	 * Set the default command for a subsystem here.
@@ -17,5 +20,49 @@ public void initDefaultCommand() {
         // Set the default command for a subsystem here.
         //setDefaultCommand(new MySpecialCommand());
     }
+    
+    
+   
+
+    /**
+	 * 
+	 */
+	public void runClimber() {
+		attachToLift();
+		attachToBar();
+		goUp();
+		
+	}
+	
+	/**
+	 * 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
+	 */
+	public void attachToBar() {
+		
+	}
+	
+	/**
+	 * stops the climber
+	 */
+	public void stopClimber() {
+		climberMotors.stopMotor();
+	}
+
+	
 }
 

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

@@ -7,4 +7,31 @@ public interface ClimberInterface {
 	 * */
 	public void initDefaultCommand();
 
+	/**
+	 * 
+	 */
+	public void runClimber();
+	
+	/**
+	 * 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
+	 */
+	public void attachToBar();
+	
+	/**
+	 * stops the climber
+	 */
+	public void stopClimber();
+
+	
 }

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

@@ -1,14 +1,18 @@
 package org.usfirst.frc.team199.Robot2018.subsystems;
 
+import org.usfirst.frc.team199.Robot2018.RobotMap;
+
+import edu.wpi.first.wpilibj.SpeedController;
 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 SpeedController intakeRollers = RobotMap.intakeMotors;
+	
+	
 
 	/**
 	 * Set the default command for a subsystem here.
@@ -17,5 +21,46 @@ public void initDefaultCommand() {
         // Set the default command for a subsystem here.
         //setDefaultCommand(new MySpecialCommand());
     }
+
+    /**
+	 * returns current motor value
+	 */
+	public double getIntake() {
+		return intakeMotors.get();
+	}
+	
+	/**
+	 * Uses (insert sensor here) to detect 
+	 * a cube in front of the robot.
+	 */
+	public boolean detectCube() {
+		
+	}
+	
+	/**
+	 * Uses (insert sensor here) to detect if 
+	 * the cube is currently inside the robot
+	 * 
+	 */
+	public boolean hasCube() {
+		
+	}
+	
+	/**
+	 * stops the motors
+	 * 
+	 */
+	public boolean stopIntake() {
+		intakeRollers.stop();
+	}
+	
+	/**
+	 * 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 getIntake();
+	
+	/**
+	 * Uses (insert sensor here) to detect 
+	 * a cube in front of the robot.
+	 */
+	public boolean detectCube();
+	
+	/**
+	 * Uses (insert sensor here) to detect if 
+	 * the cube is currently inside the robot
+	 * 
+	 */
+	public boolean hasCube();
+	
+	/**
+	 * stops the motors
+	 * 
+	 */
+	public boolean 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 +1,16 @@
 package org.usfirst.frc.team199.Robot2018.subsystems;
 
+import org.usfirst.frc.team199.Robot2018.RobotMap;
+
+import edu.wpi.first.wpilibj.SpeedController;
 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 SpeedController liftMotors = RobotMap.liftMotors;
 
 	/**
 	 * Set the default command for a subsystem here.
@@ -17,5 +19,56 @@ public void initDefaultCommand() {
         // Set the default command for a subsystem here.
         //setDefaultCommand(new MySpecialCommand());
     }
+
+    /**
+	 * Uses (insert sensor here) to detect the distance above the ground
+	 */
+	public double getDistance() {
+		
+	}
+	
+	/**
+	 * stops the lift
+	 */
+	public void stopLift() {
+		liftMotors.stopMotor();
+	}
+	
+	/**
+	 * gets current motor values
+	 */
+	public double getLift() {
+		return liftMotors.get();
+	}
+	
+	/**
+	 * goes to the bottom
+	 */
+	public void goToGround() {
+		
+	}
+	
+	/**
+	 * 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

@@ -7,4 +7,40 @@ public interface LiftInterface {
 	 * */
 	public void initDefaultCommand();
 
+	/**
+	 * Uses (insert sensor here) to detect the distance above the ground
+	 */
+	public double getDistance();
+	
+	/**
+	 * stops the lift
+	 */
+	public void stopLift();
+	
+	/**
+	 * gets current motor values
+	 */
+	public double getLift();
+	
+	/**
+	 * goes to the bottom
+	 */
+	public void goToGround();
+	
+	/**
+	 * 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();
+	
 }