added secondary intake motor

RoboticsTeam4904 · Feb 3, 2022 · c2b48e0 · c2b48e0
1 parent 093cd98
commit c2b48e0
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diff --git a/src/main/java/org/usfirst/frc4904/robot/RobotMap.java b/src/main/java/org/usfirst/frc4904/robot/RobotMap.java
@@ -22,6 +22,8 @@ public static class HumanInput {
 
         public static class CANMotor {
             public static final int AXLE_INTAKE_MOTOR = -1; //TODO: set port for axel intake motor
+            public static final int SECONDARY_INTAKE_MOTOR = -1; //TODO: set port for axel intake motor
+
         }
 
         public static class PWM {
@@ -63,6 +65,7 @@ public static class Turn {
 
     public static class Component {
         public static Motor intakeAxleMotor;
+        public static Motor intakeSecondaryMotor;
         public static SolenoidSubsystem intakeDrawbridgeSolenoid;
     }
 
@@ -85,5 +88,7 @@ public RobotMap() {
 
         Component.intakeDrawbridgeSolenoid = new SolenoidSubsystem("Intake Drawbridge Solenoid", false, SolenoidState.RETRACT, Port.Pneumatics.DRAWBRIDGE_INTAKE_SOLENOID.buildDoubleSolenoid());
         Component.intakeAxleMotor = new Motor("Intake Motor", false, new CANTalonFX(Port.CANMotor.AXLE_INTAKE_MOTOR)); //TODO: check if CANTalonFX or SRX
+        Component.intakeSecondaryMotor = new Motor("Intake Secondary Motor", false, new CANTalonFX(Port.CANMotor.SECONDARY_INTAKE_MOTOR)); //TODO: check if CANTalonFX or SRX
+
     }
 }
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/intake/SecondaryIntakeOff.java b/src/main/java/org/usfirst/frc4904/robot/commands/intake/SecondaryIntakeOff.java
@@ -0,0 +1,13 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
+
+/**
+ * Stops rotating motor
+ */
+public class SecondaryIntakeOff extends MotorIdle {
+    public SecondaryIntakeOff() {
+        super("secondaryIntakeOff", RobotMap.Component.intakeSecondaryMotor);
+    }
+}
diff --git a/src/main/java/org/usfirst/frc4904/robot/commands/intake/SecondaryIntakeOn.java b/src/main/java/org/usfirst/frc4904/robot/commands/intake/SecondaryIntakeOn.java
@@ -0,0 +1,14 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+
+/**
+ * Rotates the motor to intake the ball
+ */
+public class SecondaryIntakeOn extends MotorConstant {
+    public final static double DEFAULT_INTAKE_MOTOR_SPEED = 0.5; //TODO: needs value
+    public SecondaryIntakeOn() {
+        super("SecondaryIntakeOn", RobotMap.Component.intakeSecondaryMotor, DEFAULT_INTAKE_MOTOR_SPEED);
+    }
+}