Merge pull request #68 from grt192/sensor-NT

Add intake sensors to NT
grt192 · Apr 3, 2024 · bf3e5f4 · bf3e5f4
2 parents 0b732a3 + 3f0800d
commit bf3e5f4
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Showing 2 changed files with 21 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -186,11 +186,15 @@ public RobotContainer() {
             driveController = new DualJoystickDriveController();
         }
 
+        try {
         driverCamera = new UsbCamera("fisheye", 0);
         driverCamera.setVideoMode(PixelFormat.kMJPEG, 160, 120, 30);
         driverCamera.setExposureManual(40);
         driverCameraServer = new MjpegServer("m1", 1181);
         driverCameraServer.setSource(driverCamera);
+        } catch (Exception e) {
+            System.out.print(e);
+        }
 
         autonBuilder = new AutonBuilder(
             intakePivotSubsystem, intakeRollerSubsystem, 

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeRollerSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeRollerSubsystem.java
@@ -10,6 +10,8 @@
 
 import javax.imageio.plugins.tiff.TIFFDirectory;
 
+import org.apache.commons.math3.ml.neuralnet.Network;
+
 import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.revrobotics.CANSparkLowLevel.MotorType;
@@ -19,6 +21,7 @@
 
 import edu.wpi.first.networktables.BooleanPublisher;
 import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
 import edu.wpi.first.networktables.NetworkTableInstance;
 import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj.DigitalInput;
@@ -47,6 +50,11 @@ public class IntakeRollerSubsystem extends SubsystemBase {
     private BooleanPublisher ntFrontPublisher;
     private BooleanPublisher ntBackPublisher;
 
+    private NetworkTable intakeNTTable;
+    private NetworkTableEntry frontSensorEntry;
+    private NetworkTableEntry rockwellSensorEntry;
+    private NetworkTableEntry ampSenSorEntry;
+
     private final LightBarSubsystem lightBarSubsystem;
 
     private Timer colorResetTimer;
@@ -66,8 +74,12 @@ public IntakeRollerSubsystem(LightBarSubsystem lightBarSubsystem) {
 
         ntInstance = NetworkTableInstance.getDefault();
         ntTable = ntInstance.getTable("RobotStatus");
-        ntFrontPublisher = ntTable.getBooleanTopic("frontSensor").publish();
-        ntBackPublisher = ntTable.getBooleanTopic("backSensor").publish();
+        intakeNTTable = ntInstance.getTable("Intake");
+        frontSensorEntry = intakeNTTable.getEntry("FrontSensor");
+        rockwellSensorEntry = intakeNTTable.getEntry("Rockwell");
+        ampSenSorEntry = intakeNTTable.getEntry("AMPSensor");
+        ntFrontPublisher = ntTable.getBooleanTopic("FrontSensor").publish();
+        ntBackPublisher = ntTable.getBooleanTopic("BackSensor").publish();
 
         this.lightBarSubsystem = lightBarSubsystem;
 
@@ -133,6 +145,9 @@ public boolean getAmpSensor() {
 
     @Override
     public void periodic() {
+        frontSensorEntry.setBoolean(getFrontSensorReached());
+        rockwellSensorEntry.setBoolean(getRockwellSensorValue());
+        ampSenSorEntry.setBoolean(getAmpSensor());
 
         ntFrontPublisher.set(getFrontSensorReached());
         prevFrontSensorValue = getFrontSensorValue();