Air Compresor Pause added and IR sensor code

Author: Ihedgehogs

src/main/java/org/mayheminc/robot2020/commands/AirCompressorDefault.java

@@ -12,6 +12,8 @@
 import edu.wpi.first.wpilibj2.command.CommandBase;
 
 public class AirCompressorDefault extends CommandBase {
+  boolean value;
+
   /**
    * Creates a new AirCompressorDefault.
    */
@@ -20,11 +22,18 @@ public AirCompressorDefault() {
     addRequirements(RobotContainer.compressor);
   }
 
+  public AirCompressorDefault(boolean b) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(RobotContainer.compressor);
+    value = b;
+
+  }
+
   // Called when the command is initially scheduled.
   @Override
   public void initialize() {
     // robot.is
-    RobotContainer.compressor.setCompressor(true);
+    RobotContainer.compressor.setCompressor(value);
   }
 
   // Called every time the scheduler runs while the command is scheduled.

src/main/java/org/mayheminc/robot2020/commands/AirCompressorPause.java

@@ -0,0 +1,29 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package org.mayheminc.robot2020.commands;
+
+import org.mayheminc.robot2020.RobotContainer;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class AirCompressorPause extends InstantCommand {
+  /**
+   * Creates a new AirCompressorSet.
+   */
+  public AirCompressorPause() {
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(RobotContainer.compressor);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    RobotContainer.compressor.setCompressor(false);
+  }
+
+}

src/main/java/org/mayheminc/robot2020/subsystems/AirCompressor.java

@@ -8,10 +8,12 @@
 package org.mayheminc.robot2020.subsystems;
 
 import edu.wpi.first.wpilibj.Compressor;
+import edu.wpi.first.wpilibj.Timer;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class AirCompressor extends SubsystemBase {
   Compressor compressor = new Compressor();
+  Timer m_Timer = new Timer();
 
   /**
    * Creates a new compressor.
@@ -21,17 +23,25 @@ public AirCompressor() {
     setCompressor(true);
   }
 
+  final double COPRESSOR_PAUSE_TIME = 10.0;
+
   public void setCompressor(boolean b) {
     // b = false;
     if (b) {
       compressor.start();
     } else {
       compressor.stop();
+      m_Timer.start();
     }
   }
 
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
+
+    // if the timer expires, turn on the compressor.
+    if (m_Timer.hasPeriodPassed(COPRESSOR_PAUSE_TIME)) {
+      setCompressor(true);
+    }
   }
 }

src/main/java/org/mayheminc/robot2020/subsystems/Chimney.java

@@ -12,12 +12,15 @@
 
 import org.mayheminc.robot2020.Constants;
 import org.mayheminc.util.MayhemTalonSRX;
+import org.mayheminc.util.RangeFinder_GP2D120;
 
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Chimney extends SubsystemBase {
   private final MayhemTalonSRX chimneyTalon = new MayhemTalonSRX(Constants.Talon.MAGAZINE_CHIMNEY);
+  private final RangeFinder_GP2D120 frontIR = new RangeFinder_GP2D120(2, 0);
+  private final RangeFinder_GP2D120 middleIR = new RangeFinder_GP2D120(3, 0);
 
   /**
    * Creates a new Chimney.
@@ -34,11 +37,15 @@ public void periodic() {
     // This method will be called once per scheduler run
     updateSmartDashboard();
     monitorTurntableMovement();
+    frontIR.periodic();
+    middleIR.periodic();
   }
 
   void updateSmartDashboard() {
     SmartDashboard.putNumber("Chimney Speed", chimneyTalon.getSpeed());
     SmartDashboard.putNumber("Chimney Current", chimneyTalon.getStatorCurrent());
+    SmartDashboard.putBoolean("Chimney FrontIR", frontIR.isObjectClose());
+    SmartDashboard.putBoolean("Chimney MidddleIR", middleIR.isObjectClose());
   }
 
   void monitorTurntableMovement() {
@@ -47,4 +54,12 @@ void monitorTurntableMovement() {
   public void setChimneySpeed(double speed) {
     chimneyTalon.set(ControlMode.PercentOutput, speed);
   }
+
+  public boolean isBallInFrontOfChimney() {
+    return frontIR.isObjectClose();
+  }
+
+  public boolean isBallInMiddleOfChimney() {
+    return middleIR.isObjectClose();
+  }
 }