Arms_Deployable

src/main/java/org/wildstang/year2023/robot/CANConstants.java

@@ -1,5 +1,7 @@
 package org.wildstang.year2023.robot;
 
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+
 /**
  * CAN Constants are stored here.
  * We primarily use CAN to communicate with Talon motor controllers.
@@ -30,6 +32,8 @@ public final class CANConstants {
     public static final int ANGLE3 = 16;
     public static final int DRIVE4 = 17;
     public static final int ANGLE4 = 18;
+    public static final int INTAKE1 = 0;
+
 
 
 }

src/main/java/org/wildstang/year2023/robot/WSInputs.java

@@ -104,7 +104,7 @@ public enum WSInputs implements Inputs {
     // ---------------------------------
     // Manipulator DPAD Buttons
     // ---------------------------------
-    MANIPULATOR_DPAD_DOWN  ("Manipulator dpad down",  new WsDPadButtonInputConfig(1, JoystickConstants.DPAD_Y_DOWN)),
+    MANIPULATOR_DPAD_DOWN  ("Toggle deploy and rev intake",  new WsDPadButtonInputConfig(1, JoystickConstants.DPAD_Y_DOWN)),
     MANIPULATOR_DPAD_LEFT  ("Manipulator dpad left",  new WsDPadButtonInputConfig(1, JoystickConstants.DPAD_X_LEFT)),
     MANIPULATOR_DPAD_RIGHT ("Manipulator dpad right", new WsDPadButtonInputConfig(1, JoystickConstants.DPAD_X_RIGHT)),
     MANIPULATOR_DPAD_UP    ("Manipulator dpad up",    new WsDPadButtonInputConfig(1, JoystickConstants.DPAD_Y_UP)),

src/main/java/org/wildstang/year2023/robot/WSOutputs.java

@@ -41,7 +41,7 @@ public enum WSOutputs implements Outputs {
     ANGLE3("Module 3 Angle Motor", new WsSparkMaxConfig(CANConstants.ANGLE3, true)),
     DRIVE4("Module 4 Drive Motor", new WsSparkMaxConfig(CANConstants.DRIVE4, true)),
     ANGLE4("Module 4 Angle Motor", new WsSparkMaxConfig(CANConstants.ANGLE4, true)),
-
+    INTAKE1("Intake 1 Motor", new WsSparkMaxConfig(CANConstants.INTAKE1, true)),
 
     // ---------------------------------
     // Servos
@@ -57,6 +57,9 @@ public enum WSOutputs implements Outputs {
     // Solenoids
     // ********************************
     TEST_SOLENOID("Test Solenoid", new WsSolenoidConfig(PneumaticsModuleType.REVPH, 0, false)),
+
+    DEPLOYABLE1("Deployable 1 Solenoid", new WsSolenoidConfig(PneumaticsModuleType.REVPH, 0, false)),
+    DEPLOYABLE2("Deployable 2 Solenoid", new WsSolenoidConfig(PneumaticsModuleType.REVPH, 0, false)),
 
     // ********************************
     // Relays

src/main/java/org/wildstang/year2023/robot/WSSubsystems.java

@@ -2,6 +2,7 @@
 
 import org.wildstang.framework.core.Subsystems;
 import org.wildstang.year2023.subsystems.SampleSubsystem;
+import org.wildstang.year2023.subsystems.Intake.Intake;
 import org.wildstang.year2023.subsystems.swerve.SwerveDrive;
 import org.wildstang.year2023.subsystems.targeting.AimHelper;
 
@@ -13,6 +14,7 @@ public enum WSSubsystems implements Subsystems {
 
     // enumerate subsystems
     SWERVE_DRIVE("Swerve Drive", SwerveDrive.class),
+    INTAKE("Intake", Intake.class),
     //AIM_HELPER("Aim Helper", AimHelper.class),
     //SAMPLE("Sample", SampleSubsystem.class)
     ;

src/main/java/org/wildstang/year2023/subsystems/Intake/Intake.java

@@ -0,0 +1,104 @@
+package org.wildstang.year2023.subsystems.Intake;
+
+import org.wildstang.framework.io.inputs.Input;
+import org.wildstang.framework.subsystems.Subsystem;
+import org.wildstang.hardware.roborio.inputs.WsJoystickButton;
+import org.wildstang.hardware.roborio.outputs.WsSolenoid;
+import org.wildstang.hardware.roborio.outputs.WsSparkMax;
+import org.wildstang.year2023.robot.WSInputs;
+import org.wildstang.year2023.robot.WSOutputs;
+
+public class Intake implements Subsystem {
+
+    private WsSparkMax intake1;
+    private WsJoystickButton deployRevIntake;
+    private WsJoystickButton backwards; 
+
+    private WsSolenoid deployable1;
+    private WsSolenoid deployable2;
+
+    //All variables used
+    private boolean intakeCall;
+    private boolean backCall; 
+
+
+
+
+    @Override
+    public void inputUpdate(Input source) {
+        // TODO Auto-generated method stub
+
+        if (source == deployRevIntake){
+            intakeCall = !(intakeCall);
+
+        }
+
+        if (source == backwards){
+            backCall = !(backCall);
+        }
+    }
+
+    @Override
+    public void init() {
+        // TODO Auto-generated method stub
+        intake1 = (WsSparkMax) WSOutputs.INTAKE1.get();
+
+        deployRevIntake = (WsJoystickButton) WSInputs.MANIPULATOR_DPAD_DOWN.get();
+        deployRevIntake.addInputListener(this);
+        backwards = (WsJoystickButton) WSInputs.MANIPULATOR_DPAD_UP.get();
+
+        deployable1 = (WsSolenoid) WSOutputs.DEPLOYABLE1.get();
+        deployable2 = (WsSolenoid) WSOutputs.DEPLOYABLE2.get();
+
+        intakeCall = false;
+        backCall = false; 
+
+
+    }
+
+    @Override
+    public void selfTest() {
+        // TODO Auto-generated method stub
+
+    }
+
+    @Override
+    public void update() {
+        // TODO Auto-generated method stub
+        if (intakeCall){
+            intake1.setValue(1); 
+            deployable1.setValue(true);
+            deployable2.setValue(true);
+        } else {
+            intake1.setValue(0);
+            deployable1.setValue(false);
+            deployable2.setValue(false);
+        }
+
+        if (backCall){
+            intake1.setValue(-1);
+            deployable1.setValue(true);
+            deployable2.setValue(true);
+        } else {
+            intake1.setValue(0);
+            deployable1.setValue(false);
+            deployable2.setValue(false);
+        }
+    }
+
+    @Override
+    public void resetState() {
+        // TODO Auto-generated method stub
+        intakeCall = false; 
+
+    }
+
+    @Override
+    public String getName() {
+        // TODO Auto-generated method stub
+        return "Intake";
+    }
+
+
+
+}