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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,40 +1,37 @@ | ||
| { | ||
| "java.configuration.updateBuildConfiguration": "automatic", | ||
| "java.server.launchMode": "Standard", | ||
| "files.exclude": { | ||
| "**/.git": true, | ||
| "**/.svn": true, | ||
| "**/.hg": true, | ||
| "**/CVS": true, | ||
| "**/.DS_Store": true, | ||
| "bin/": true, | ||
| "**/.classpath": true, | ||
| "**/.project": true, | ||
| "**/.settings": true, | ||
| "**/.factorypath": true, | ||
| "**/*~": true | ||
| }, | ||
| "java.test.config": [ | ||
| { | ||
| "name": "WPIlibUnitTests", | ||
| "workingDirectory": "${workspaceFolder}/build/jni/release", | ||
| "vmargs": [ | ||
| "-Djava.library.path=${workspaceFolder}/build/jni/release" | ||
| ], | ||
| "env": { | ||
| "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release", | ||
| "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" | ||
| } | ||
| }, | ||
| ], | ||
| "java.test.defaultConfig": "WPIlibUnitTests", | ||
| // Style guide - most of this came from clicking buttons and then copying from my user settings.json | ||
| // General editor stuff | ||
| "editor.formatOnSave": true, // So you cant forget | ||
| "editor.tabSize": 4, // 4 char width indentation | ||
| "editor.detectIndentation": false, // Prevent above from being overridden | ||
| "editor.insertSpaces": false, // use tab character instead of spaces | ||
| "java.cleanup.actionsOnSave": [ | ||
| "addOverride", | ||
| ] | ||
| } | ||
| "java.configuration.updateBuildConfiguration": "automatic", | ||
| "java.server.launchMode": "Standard", | ||
| "files.exclude": { | ||
| "**/.git": true, | ||
| "**/.svn": true, | ||
| "**/.hg": true, | ||
| "**/CVS": true, | ||
| "**/.DS_Store": true, | ||
| "bin/": true, | ||
| "**/.classpath": true, | ||
| "**/.project": true, | ||
| "**/.settings": true, | ||
| "**/.factorypath": true, | ||
| "**/*~": true | ||
| }, | ||
| "java.test.config": [ | ||
| { | ||
| "name": "WPIlibUnitTests", | ||
| "workingDirectory": "${workspaceFolder}/build/jni/release", | ||
| "vmargs": [ "-Djava.library.path=${workspaceFolder}/build/jni/release" ], | ||
| "env": { | ||
| "LD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" , | ||
| "DYLD_LIBRARY_PATH": "${workspaceFolder}/build/jni/release" | ||
| } | ||
| }, | ||
| ], | ||
| "java.test.defaultConfig": "WPIlibUnitTests", | ||
| "cSpell.words": [ | ||
| "AHRS", | ||
| "Deadzone", | ||
| "Odometry", | ||
| "setpoint", | ||
| "velociticities" | ||
| ] | ||
| } | ||
|
|
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,77 @@ | ||
| package frc.robot.commands; | ||
|
|
||
| import frc.robot.Constants.ArmConstants; | ||
| import frc.robot.subsystems.Arm; | ||
| import frc.robot.subsystems.ExampleSubsystem; | ||
| import frc.robot.inputs.OptionButtonInput; | ||
| import edu.wpi.first.wpilibj.TimedRobot; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.Commands; | ||
| import edu.wpi.first.wpilibj2.command.Subsystem; | ||
|
|
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|
|
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| public class ArmRemoteControl extends Command { | ||
| private final Arm arm; | ||
|
|
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| private final OptionButtonInput raiseArmButton; | ||
| private final OptionButtonInput lowerArmButton; | ||
|
|
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| private final OptionButtonInput speakerPositionButton; | ||
| private final OptionButtonInput ampPositionButton; | ||
| private final OptionButtonInput intakePositionButton; | ||
|
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||
|
|
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| public ArmRemoteControl(Arm arm, OptionButtonInput raiseArmButton, OptionButtonInput lowerArmButton, | ||
| OptionButtonInput speakerPositionButton, OptionButtonInput ampPositionButton, OptionButtonInput intakePositionButton) { | ||
| this.arm = arm; | ||
|
|
||
| this.raiseArmButton = raiseArmButton; | ||
| this.lowerArmButton = lowerArmButton; | ||
|
|
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| this.speakerPositionButton = speakerPositionButton; | ||
| this.ampPositionButton = ampPositionButton; | ||
| this.intakePositionButton = intakePositionButton; | ||
|
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|
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| addRequirements(arm); | ||
| } | ||
|
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|
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|
|
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| @Override | ||
| public void initialize() { | ||
| } | ||
|
|
||
| /** | ||
| * execute() is called repeatedly while a command is scheduled, about every | ||
| * 20ms. | ||
| */ | ||
| @Override | ||
| public void execute() { | ||
|
|
||
| // Arm Motor | ||
| arm.changeArmAngleDegreesBy(Double.valueOf(raiseArmButton.getStateAsInt()) * TimedRobot.kDefaultPeriod * ArmConstants.DEGREES_PER_SECOND); | ||
| arm.changeArmAngleDegreesBy(Double.valueOf(-lowerArmButton.getStateAsInt()) * TimedRobot.kDefaultPeriod * ArmConstants.DEGREES_PER_SECOND); | ||
|
|
||
| // Arm Povs | ||
| if (speakerPositionButton.getState()) { | ||
| arm.setArmToSpeakerPosition(); | ||
| } | ||
| if (ampPositionButton.getState()) { | ||
| arm.setArmToAmpPosition(); | ||
| } | ||
| if (intakePositionButton.getState()) { | ||
| arm.setArmToIntakePosition(); | ||
| } | ||
|
|
||
| } | ||
|
|
||
| @Override | ||
| public boolean isFinished() { | ||
| return false; | ||
| } | ||
|
|
||
| @Override | ||
| public void end(boolean interrupted) { | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,28 @@ | ||
| package frc.robot.commands; | ||
|
|
||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import frc.robot.subsystems.Arm; | ||
|
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| public class ArmRotateTo extends Command{ | ||
|
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| private final double setpoint; | ||
| private final Arm arm; | ||
|
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| public ArmRotateTo(Arm arm, double degree){ | ||
| this.setpoint = degree; | ||
| this.arm = arm; | ||
|
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| addRequirements(arm); | ||
|
|
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| } | ||
|
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| @Override | ||
| public void initialize() { | ||
| arm.setSetpoint(setpoint); | ||
| } | ||
|
|
||
| @Override | ||
| public boolean isFinished() { | ||
| return arm.isAtDesiredPosition(); | ||
| } | ||
| } |
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