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Code for claw mech. RobotContainer updated with button bindings and s… #10

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Code for claw mech. RobotContainer updated with button bindings and s… #10

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755dfcb
Code for claw mech. RobotContainer updated with button bindings and s…
Ippyb Nov 19, 2021
ee88ee8
per 7 claw mech with states, button release, and encoders
Ippyb Dec 3, 2021
ed326f2
initialized booleans
Ippyb Dec 3, 2021
9fec24f
add 2nd motor
PinkBlueSky Dec 4, 2021
046efc6
Removed duplicate Xbox
PinkBlueSky Dec 4, 2021
21e07ec
Use only one encoder; add back the 2nd xbox controller
PinkBlueSky Dec 4, 2021
34c2f1b
Edit controller bindings and restructure close/lift command
PinkBlueSky Dec 6, 2021
b608226
Restructure ClawSubsystem to have state vars; add new commands
PinkBlueSky Dec 7, 2021
f16d99c
Print encoder positions for the claw
PinkBlueSky Dec 9, 2021
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17 changes: 17 additions & 0 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,12 @@
import frc.robot.commands.elevator.ElevatorUpCommand;
import frc.robot.commands.elevator.ElevatorDownCommand;
import frc.robot.commands.elevator.ElevatorStopCommand;
import frc.robot.subsystems.ClawSubsystem.ClawSubsystem;
import frc.robot.subsystems.elevator.ElevatorSubsystem;
import frc.robot.subsystems.tank.TankSubsystem;
import edu.wpi.first.wpilibj2.command.button.JoystickButton;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import edu.wpi.first.wpilibj.Solenoid;

/**
* This class is where the bulk of the robot should be declared. Since
Expand All @@ -39,6 +42,7 @@ public class RobotContainer {

// Subsystems
private final TankSubsystem tankSubsystem;
private final ClawSubsystem clawSubsystem;

// Controllers
private XboxController controlXbox = new XboxController(0);
Expand Down Expand Up @@ -68,6 +72,7 @@ public RobotContainer() {

// Instantiate subsystems
tankSubsystem = new TankSubsystem();
clawSubsystem = new ClawSubsystem();

// Instantiate commands
tankCommand = new DriveTankCommand(tankSubsystem, 0, 0);
Expand Down Expand Up @@ -96,6 +101,18 @@ private void controllerBindings() {
// Set the drive powers based on which controller is being used
if (isXbox) {
tankSubsystem.setCarDrivePowers(-controlXbox.getY(Hand.kLeft), controlXbox.getX(Hand.kRight));
if(controlXbox.getAButtonPressed()){
clawSubsystem.openClaw();
}
if(controlXbox.getBButtonPressed()){
clawSubsystem.openClaw();
}
if(controlXbox.getXButtonPressed()){
clawSubsystem.liftClaw();
}
if(controlXbox.getYButtonPressed()){
clawSubsystem.lowerClaw();
}
} else {
tankSubsystem.setTankDrivePowers(-joystickLeft.getY(), -joystickRight.getY());
}
Expand Down
51 changes: 51 additions & 0 deletions src/main/java/frc/robot/subsystems/ClawSubsystem/ClawSubsystem.java
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Original file line number Diff line number Diff line change
@@ -0,0 +1,51 @@
package frc.robot.subsystems.ClawSubsystem;

import edu.wpi.first.wpilibj2.command.CommandScheduler;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import edu.wpi.first.wpilibj.Solenoid;

import com.ctre.phoenix.motorcontrol.ControlMode;

public class ClawSubsystem extends SubsystemBase{
private TalonSRX motor1;
private Solenoid pfft1;

public ClawSubsystem() {

CommandScheduler.getInstance().registerSubsystem(this);
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this is a line in the super constructor, which according to Kevin, is already called. So I think we can get away with not having this line


motor1 = new TalonSRX(0);
pfft1 = new Solenoid(1);
}

@Override
public void periodic() {
// This method will be called once per scheduler run

}

@Override
public void simulationPeriodic() {
// This method will be called once per scheduler run during simulation
}

public void openClaw(){
motor1.set(ControlMode.PercentOutput, .5);
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I think that we should stick to our state system, in that we should have states that are public field variable (e.g. "public boolean openClaw"), and then take action in periodic() based on that field variable. same applies for lift methods.

On top of that, we should probably use encoders and run the motor until it stops moving (rate of change of encoder reading is basically 0), rather than keeping it powered. We have a high chance of burning out motors if we just set power.

}

public void closeClaw(){
motor1.set(ControlMode.PercentOutput, -.5);
}

public void liftClaw(){
pfft1.set(true);
}

public void lowerClaw(){
pfft1.set(false);
motor1.set(ControlMode.PercentOutput, -.5);
}
}