86 lines
2.2 KiB
Java
86 lines
2.2 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
|
|
// Open Source Software; you can modify and/or share it under the terms of
|
|
// the WPILib BSD license file in the root directory of this project.
|
|
|
|
package frc.robot.subsystems;
|
|
|
|
import org.fairportrobotics.frc.posty.TestableSubsystem;
|
|
import org.fairportrobotics.frc.posty.test.PostTest;
|
|
|
|
import com.ctre.phoenix6.hardware.TalonFX;
|
|
|
|
import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
|
|
import frc.robot.Constants;
|
|
import edu.wpi.first.wpilibj2.command.Command;
|
|
|
|
public class HopperSubsystem extends TestableSubsystem {
|
|
|
|
private TalonFX spindexerMotor;
|
|
private TalonFX kickerMotor;
|
|
/** Creates a new HopperSubsystem. */
|
|
public HopperSubsystem() {
|
|
spindexerMotor = new TalonFX(Constants.HopperConstants.SPINDEXER_MOTOR_ID);
|
|
kickerMotor = new TalonFX(Constants.HopperConstants.KICKER_MOTOR_ID);
|
|
}
|
|
|
|
public void feed() {
|
|
kickerMotor.set(0.5);
|
|
}
|
|
|
|
public void reverse() {
|
|
kickerMotor.set(-0.5);
|
|
}
|
|
|
|
public void stop() {
|
|
kickerMotor.set(0);
|
|
}
|
|
|
|
public void spin(double speed) {
|
|
spindexerMotor.set(speed);
|
|
}
|
|
|
|
/**
|
|
* Example command factory method.
|
|
*
|
|
* @return a command
|
|
*/
|
|
public Command exampleMethodCommand() {
|
|
// Inline construction of command goes here.
|
|
// Subsystem::RunOnce implicitly requires `this` subsystem.
|
|
return runOnce(
|
|
() -> {
|
|
/* one-time action goes here */
|
|
});
|
|
}
|
|
|
|
/**
|
|
* An example method querying a boolean state of the subsystem (for example, a digital sensor).
|
|
*
|
|
* @return value of some boolean subsystem state, such as a digital sensor.
|
|
*/
|
|
public boolean exampleCondition() {
|
|
// Query some boolean state, such as a digital sensor.
|
|
return false;
|
|
}
|
|
|
|
@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
|
|
}
|
|
|
|
@PostTest(name = "A friendly name", enabled = true)
|
|
public void myFailingPostTest(){
|
|
assertThat(true).isFalse();
|
|
}
|
|
|
|
@PostTest(enabled = true)
|
|
public void myPassingPostTest(){
|
|
assertThat("Hello World").endWith("World");
|
|
}
|
|
}
|