publishes elevator state to network table

grt192 · Feb 12, 2024 · ee03776 · ee03776
1 parent c82fa14
commit ee03776
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diff --git a/src/main/java/frc/robot/commands/elevator/ElevatorToAMPCommand.java b/src/main/java/frc/robot/commands/elevator/ElevatorToAMPCommand.java
@@ -3,9 +3,15 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.elevator.ElevatorState;
 import frc.robot.subsystems.elevator.ElevatorSubsystem;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
 
 public class ElevatorToAMPCommand extends Command{
     private ElevatorSubsystem elevatorSubsystem;
+    private NetworkTableInstance nt;
+    private NetworkTable table;
+    private NetworkTableEntry entry;
     public ElevatorToAMPCommand(ElevatorSubsystem elevatorSubsystem){
         this.addRequirements(elevatorSubsystem);
         this.elevatorSubsystem = elevatorSubsystem;
@@ -17,7 +23,13 @@ public void end(boolean interrupted){
         if (interrupted){
             System.out.println("TO AMP INTERUPTED");
         }
+        nt = NetworkTableInstance.getDefault();
+        table = nt.getTable("elevator");
+        entry = table.getEntry("position");
+        entry.setInteger(3);
         return;
+
+
     }
 
     @Override

diff --git a/src/main/java/frc/robot/commands/elevator/ElevatorToGroundCommand.java b/src/main/java/frc/robot/commands/elevator/ElevatorToGroundCommand.java
@@ -3,9 +3,15 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.subsystems.elevator.ElevatorState;
 import frc.robot.subsystems.elevator.ElevatorSubsystem;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
 
 public class ElevatorToGroundCommand extends Command{
     private ElevatorSubsystem elevatorSubsystem;
+    private NetworkTableInstance nt;
+    private NetworkTable table;
+    private NetworkTableEntry entry;
     public ElevatorToGroundCommand(ElevatorSubsystem elevatorSubsystem){
         this.addRequirements(elevatorSubsystem);
         this.elevatorSubsystem = elevatorSubsystem;
@@ -17,6 +23,10 @@ public void end(boolean interrupted){
         if (interrupted){
             System.out.println("TO GROUND INTERUPTED");
         }
+        nt = NetworkTableInstance.getDefault();
+        table = nt.getTable("elevator");
+        entry = table.getEntry("position");
+        entry.setInteger(0);
         return;
     }