Arms_Deployable #3
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| import org.wildstang.year2023.robot.WSInputs; | ||
| import org.wildstang.year2023.robot.WSOutputs; | ||
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| public class Deployable implements Subsystem { |
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Lets call this Intake to be more clear
| // TODO Auto-generated method stub | ||
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| if (source == deployRevIntake){ | ||
| intakeCall = !(intakeCall); |
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This is functionally the same but it could just be !intakeCall
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We should also have the ability to spin the intake backwards
| @@ -0,0 +1,59 @@ | |||
| package org.wildstang.year2023.subsystems; | |||
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Looks like you had already committed this, I'll remove it
| @Override | ||
| public String getName() { | ||
| // TODO Auto-generated method stub | ||
| return "Deployable"; |
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Rename this to match the class name and add the class to WSSubsystems
This reverts commit 73827e4.
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On Wed, Feb 8, 2023 at 5:59 PM Liam Fruzyna ***@***.***> wrote:
***@***.**** commented on this pull request.
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In src/main/java/org/wildstang/year2023/subsystems/Intake/Deployable.java
<#3 (comment)>
:
> + private WsSparkMax intake1;
+ private WsJoystickButton deployRevIntake;
+ private WsSolenoid deployable1;
+ private WsSolenoid deployable2;
+
+ //All variables used
+ private boolean intakeCall;
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+ @OverRide
+ public void inputUpdate(Input source) {
+ // TODO Auto-generated method stub
+
+ if (source == deployRevIntake){
+ intakeCall = !(intakeCall);
We should also have the ability to spin the intake backwards
Okay i'll get that done as soon as possible
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| if (intakeCall){ | ||
| intake1.setValue(1); | ||
| deployable1.setValue(true); | ||
| deployable2.setValue(true); | ||
| } else { | ||
| intake1.setValue(0); | ||
| deployable1.setValue(false); | ||
| deployable2.setValue(false); | ||
| } | ||
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| if (backCall){ | ||
| intake1.setValue(-1); | ||
| deployable1.setValue(true); | ||
| deployable2.setValue(true); | ||
| } else { | ||
| intake1.setValue(0); | ||
| deployable1.setValue(false); | ||
| deployable2.setValue(false); | ||
| } |
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So what happens when both buttons have been pressed? Should backCall always take precedent or should the last one pressed take precedent? If its the last one pressed you could use an int to store -1, 0, or 1 instead of intakeCall and backCall then having to decide which is more important
| backwards = (WsJoystickButton) WSInputs.MANIPULATOR_DPAD_UP.get(); | ||
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| deployable1 = (WsSolenoid) WSOutputs.DEPLOYABLE1.get(); | ||
| deployable2 = (WsSolenoid) WSOutputs.DEPLOYABLE2.get(); |
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This ended up being just 1 solenoid, but we can leave this for now
Pull request template
Please fill out the fields below by replacing their explaination text.
Subsystem: added Deployable Subsystem
Description: Sets the Manipulator D-Pad down to toggle the deployabe intake and rev
Describe your changes in a few sentences.
Tested: No
Checking that the code has built locally is important, but that is not testing.
If yes, please elaborate.
Collaborators: List anyone else who worked on this PR, preferably with @s
Before submitting: