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ProfessorAtomicManiacProfessorAtomicManiac
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Merge pull request #64 from DeepBlueRobotics/Added-min-sample-time-for-ds
Add min sample time for tof
2 parents a03cf84 + c49df5f commit d84f88e

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12 files changed

+90
-68
lines changed

12 files changed

+90
-68
lines changed

‎src/main/java/org/carlmontrobotics/RobotContainer.java‎

Lines changed: 6 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -212,7 +212,7 @@ private void setBindingsManipulatorNEO() {
212212
new SwitchRPMShootNEO(intakeShooter));
213213
axisTrigger(manipulatorController, Manipulator.SHOOTER_BUTTON)
214214
.onFalse(
215-
new InstantCommand(intakeShooter::stopOutake, intakeShooter));
215+
new InstantCommand(intakeShooter::stopOuttake, intakeShooter));
216216
axisTrigger(manipulatorController, Manipulator.INTAKE_BUTTON)
217217
.whileTrue(new SequentialCommandGroup(new PrintCommand("Running Intake"),
218218
new IntakeNEO(intakeShooter)));
@@ -235,15 +235,16 @@ private void setBindingsManipulatorENDEFF() {
235235

236236

237237
new JoystickButton(manipulatorController, Button.kB.value).onTrue(new RampMaxRPM(intakeShooter));
238-
new JoystickButton(manipulatorController, Button.kB.value).onFalse(new InstantCommand(intakeShooter::stopOutake,intakeShooter));
238+
new JoystickButton(manipulatorController, Button.kB.value)
239+
.onFalse(new InstantCommand(intakeShooter::stopOuttake, intakeShooter));
239240
new JoystickButton(manipulatorController, AMP_BUTTON).onTrue(new EjectOuttakeSide(intakeShooter));
240241

241242
axisTrigger(manipulatorController, Manipulator.SHOOTER_BUTTON)
242243
.onTrue(
243244
new SwitchRPMShoot(intakeShooter));
244245
axisTrigger(manipulatorController, Manipulator.SHOOTER_BUTTON)
245246
.onFalse(
246-
new InstantCommand(intakeShooter::stopOutake, intakeShooter));
247+
new InstantCommand(intakeShooter::stopOuttake, intakeShooter));
247248

248249
axisTrigger(manipulatorController, Manipulator.INTAKE_BUTTON)
249250
.onTrue(new SequentialCommandGroup(new PrintCommand("Running Intake"),
@@ -350,10 +351,10 @@ private void registerAutoCommands(){
350351
NamedCommands.registerCommand("PassToOuttake", new PassToOuttake(intakeShooter));
351352

352353
NamedCommands.registerCommand("StopIntake", new InstantCommand(intakeShooter::stopIntake));
353-
NamedCommands.registerCommand("StopOutake", new InstantCommand(intakeShooter::stopOutake));
354+
NamedCommands.registerCommand("StopOutake", new InstantCommand(intakeShooter::stopOuttake));
354355
NamedCommands.registerCommand("StopBoth", new ParallelCommandGroup(
355356
new InstantCommand(intakeShooter::stopIntake),
356-
new InstantCommand(intakeShooter::stopOutake)
357+
new InstantCommand(intakeShooter::stopOuttake)
357358
));
358359
}
359360
private void setupAutos() {

‎src/main/java/org/carlmontrobotics/commands/Eject.java‎

Lines changed: 4 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@ public void initialize() {
2323
// intakeShooter.setRPMOutake(EJECT_RPM_OUTAKE);
2424
timer.reset();
2525
timer.start();
26-
intakeShooter.setMaxOutake(-1);
26+
intakeShooter.setMaxOuttake(-1);
2727
intakeShooter.setMaxIntake(-1);
2828
}
2929

@@ -36,7 +36,7 @@ public void execute() {
3636
@Override
3737
public void end(boolean interrupted) {
3838
intakeShooter.stopIntake();
39-
intakeShooter.stopOutake();
39+
intakeShooter.stopOuttake();
4040
timer.stop();
4141
intakeShooter.resetCurrentLimit();
4242

@@ -45,6 +45,7 @@ public void end(boolean interrupted) {
4545
// Returns true when the command should end.
4646
@Override
4747
public boolean isFinished() {
48-
return (timer.get() > SMART_CURRENT_LIMIT_TIMEOUT || (!intakeShooter.intakeDetectsNote() && !intakeShooter.outakeDetectsNote()));
48+
return (timer.get() > SMART_CURRENT_LIMIT_TIMEOUT
49+
|| (!intakeShooter.intakeDetectsNote() && !intakeShooter.outtakeDetectsNote()));
4950
}
5051
}

‎src/main/java/org/carlmontrobotics/commands/EjectOuttakeSide.java‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -17,7 +17,7 @@ public EjectOuttakeSide(IntakeShooter intakeShooter) {
1717
@Override
1818
public void initialize() {
1919
intakeShooter.setMaxIntake(1);
20-
intakeShooter.setMaxOutake(1);
20+
intakeShooter.setMaxOuttake(1);
2121
timer.reset();
2222
timer.start();
2323
}
@@ -29,13 +29,13 @@ public void execute(){
2929
@Override
3030
public void end(boolean interrupted) {
3131
intakeShooter.stopIntake();
32-
intakeShooter.stopOutake();
32+
intakeShooter.stopOuttake();
3333
timer.stop();
3434

3535

3636
}
3737
@Override
3838
public boolean isFinished() {
39-
return timer.get() >= 4 || (!intakeShooter.intakeDetectsNote() && !intakeShooter.outakeDetectsNote());
39+
return timer.get() >= 4 || (!intakeShooter.intakeDetectsNote() && !intakeShooter.outtakeDetectsNote());
4040
}
4141
}

‎src/main/java/org/carlmontrobotics/commands/Intake.java‎

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -33,13 +33,13 @@ public void initialize() {
3333
public void execute() {
3434
// Intake Led
3535

36-
if (intake.intakeDetectsNote() && !intake.outakeDetectsNote()) {
36+
if (intake.intakeDetectsNote() && !intake.outtakeDetectsNote()) {
3737
index++;
3838

3939
//intake.setRPMIntake(0);
4040
intake.setRPMIntake(INTAKE_RPM + index*increaseAmount);
4141
}
42-
if (intake.outakeDetectsNote()) {
42+
if (intake.outtakeDetectsNote()) {
4343
// Timer.delay(keepIntakingFor);
4444

4545
intake.setRPMIntake(0.0);
@@ -62,7 +62,7 @@ public void end(boolean interrupted) {
6262
// Returns true when the command should end.
6363
@Override
6464
public boolean isFinished() {
65-
return (intake.intakeDetectsNote() && intake.outakeDetectsNote());
65+
return (intake.intakeDetectsNote() && intake.outtakeDetectsNote());
6666
// || //timer.hasElapsed(MAX_SECONDS_OVERLOAD);
6767

6868
}

‎src/main/java/org/carlmontrobotics/commands/IntakeTesting.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -20,7 +20,7 @@ public void initialize() {
2020
}
2121
@Override
2222
public void execute() {
23-
if(!intakeShooter.outakeDetectsNote()) {
23+
if (!intakeShooter.outtakeDetectsNote()) {
2424
intakeShooter.setRPMIntake(startingRPMWithNote+increaseRPM*index);
2525
index++;
2626
SmartDashboard.putNumber("RPM Used", increaseRPM*index + startingRPMWithNote);
@@ -33,6 +33,6 @@ public void end(boolean interrupted) {
3333
SmartDashboard.putNumber("finalRPMUsed", increaseRPM*index + startingRPMWithNote);
3434
}
3535
public boolean isFinished() {
36-
return intakeShooter.outakeDetectsNote();
36+
return intakeShooter.outtakeDetectsNote();
3737
}
3838
}

‎src/main/java/org/carlmontrobotics/commands/PassToIntake.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -16,11 +16,11 @@ public void execute() {
1616
@Override
1717
public void end(boolean interrupted) {
1818
intakeShooter.stopIntake();
19-
intakeShooter.stopOutake();
19+
intakeShooter.stopOuttake();
2020
}
2121

2222
@Override
2323
public boolean isFinished() {
24-
return intakeShooter.intakeDetectsNote() && !intakeShooter.outakeDetectsNote();
24+
return intakeShooter.intakeDetectsNote() && !intakeShooter.outtakeDetectsNote();
2525
}
2626
}

‎src/main/java/org/carlmontrobotics/commands/RampMaxRPM.java‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -23,7 +23,7 @@ public RampMaxRPM(IntakeShooter intake) {
2323
@Override
2424
public void initialize() {
2525
babyMode = SmartDashboard.getBoolean("babymode", false);
26-
intake.setMaxOutake(1);
26+
intake.setMaxOuttake(1);
2727

2828
}
2929

@@ -35,7 +35,7 @@ public void execute() {
3535
// Called once the command ends or is interrupted.
3636
@Override
3737
public void end(boolean interrupted) {
38-
intake.stopOutake();
38+
intake.stopOuttake();
3939
// resets to defaultColor
4040
}
4141

‎src/main/java/org/carlmontrobotics/commands/RampToRPM.java‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,7 @@ public RampToRPM(IntakeShooter intake, double rpm) {
1818

1919
@Override
2020
public void initialize() {
21-
intake.setRPMOutake(rpm);
21+
intake.setRPMOuttake(rpm);
2222
timer.reset();
2323
timer.start();
2424
}

‎src/main/java/org/carlmontrobotics/commands/SwitchRPMShoot.java‎

Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -23,14 +23,14 @@ public SwitchRPMShoot(IntakeShooter intakeShooter) {
2323
}
2424
@Override
2525
public void initialize() {
26-
intakeShooter.setMaxOutake(1);
26+
intakeShooter.setMaxOuttake(1);
2727
timer.reset();
2828

2929
}
3030
@Override
3131
public void execute() {
3232
rpmAmount = RPM_SELECTOR[Arm.getSelector()];
33-
if(intakeShooter.getOutakeRPM() >= rpmAmount) {
33+
if (intakeShooter.getOuttakeRPM() >= rpmAmount) {
3434
intakeShooter.setMaxIntake(1);
3535
timer.start();
3636

@@ -39,13 +39,14 @@ public void execute() {
3939
@Override
4040
public void end(boolean interrupted) {
4141
intakeShooter.stopIntake();
42-
intakeShooter.stopOutake();
42+
intakeShooter.stopOuttake();
4343
intakeShooter.resetCurrentLimit();
4444
timer.stop();
4545

4646
}
4747
@Override
4848
public boolean isFinished() {
49-
return (!intakeShooter.intakeDetectsNote() && !intakeShooter.outakeDetectsNote()) || timer.get()>SMART_CURRENT_LIMIT_TIMEOUT;
49+
return (!intakeShooter.intakeDetectsNote() && !intakeShooter.outtakeDetectsNote())
50+
|| timer.get() > SMART_CURRENT_LIMIT_TIMEOUT;
5051
}
5152
}

‎src/main/java/org/carlmontrobotics/commands/SwitchRPMShootNEO.java‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -21,27 +21,27 @@ public SwitchRPMShootNEO(IntakeShooter intakeShooter) {
2121
}
2222
@Override
2323
public void initialize() {
24-
intakeShooter.setMaxOutake(1);
24+
intakeShooter.setMaxOuttake(1);
2525
timer.reset();
2626
}
2727
@Override
2828
public void execute() {
2929
rpmAmount = RPM_SELECTOR[Arm.getSelector()];
30-
if(intakeShooter.getOutakeRPM() >= rpmAmount) {
30+
if (intakeShooter.getOuttakeRPM() >= rpmAmount) {
3131
intakeShooter.setMaxIntake(1);
3232
timer.start();
3333
}
3434
}
3535
@Override
3636
public void end(boolean interrupted) {
3737
intakeShooter.stopIntake();
38-
intakeShooter.stopOutake();
38+
intakeShooter.stopOuttake();
3939
intakeShooter.resetCurrentLimit();
4040
timer.stop();
4141

4242
}
4343
@Override
4444
public boolean isFinished() {
45-
return (!intakeShooter.intakeDetectsNote() && !intakeShooter.outakeDetectsNote()) || timer.get() > 10;
45+
return (!intakeShooter.intakeDetectsNote() && !intakeShooter.outtakeDetectsNote()) || timer.get() > 10;
4646
}
4747
}

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