77 lines
2.5 KiB
Java
77 lines
2.5 KiB
Java
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.subsystems;
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import org.fairportrobotics.frc.posty.TestableSubsystem;
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import org.fairportrobotics.frc.posty.test.PostTest;
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import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
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import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
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import com.ctre.phoenix6.hardware.TalonFX;
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import frc.robot.Constants;
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import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
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import static org.fairportrobotics.frc.robolib.motors.Utils.*;
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import edu.wpi.first.wpilibj2.command.Command;
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import edu.wpi.first.wpilibj2.command.Commands;
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public class IntakeSubsystem extends TestableSubsystem {
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/** Creates a new ExampleSubsystem. */
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private TalonFX intakeMotor;
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private WPI_TalonSRX deployMotor;
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public IntakeSubsystem()
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{
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intakeMotor = new TalonFX(Constants.IntakeConstants.INTAKE_MOTOR_ID);
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SetMotorDirection(intakeMotor, Constants.IntakeConstants.INTAKE_MOTOR_DIRECTION);
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deployMotor = new WPI_TalonSRX(Constants.IntakeConstants.DEPLOY_MOTOR_ID);
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deployMotor.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
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deployMotor.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
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deployMotor.setInverted(Constants.IntakeConstants.DEPLOY_MOTOR_INVERTED);
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}
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public Command deploy()
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{
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return Commands.sequence(
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Commands.deadline(
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Commands.waitSeconds(2),
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this.runOnce(
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() -> {deployMotor.set(1);} // Bump this speed up if intake doesn't deploy
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)
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),
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this.runOnce(() -> deployMotor.stopMotor())
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);
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}
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public Command resetDeploy(){
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return this.runEnd(() -> deployMotor.set(-1), () -> deployMotor.stopMotor());
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}
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public void setSpeed(double speed)
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{
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intakeMotor.set(speed);
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}
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public Command intake()
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{
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return this.runOnce(() -> {if(intakeMotor.get()==0){setSpeed(-.5);}else{intakeMotor.stopMotor();}});
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}
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public Command reverseIntake()
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{
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return this.runEnd(() -> setSpeed(.5), () -> { intakeMotor.stopMotor();});
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}
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@PostTest(enabled = true)
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public void IntakeSubsystem_CANDevicesConnected(){
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assertThat(intakeMotor.isConnected()).as("Intake motor not connected!").isTrue();
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assertThat(deployMotor.isAlive()).as("Deploy controller not connected!").isTrue();
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}
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}
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