changed magazine to chimney

Author: robertdeml

src/main/java/org/mayheminc/robot2020/RobotContainer.java

@@ -56,10 +56,10 @@ public RobotContainer() {
         configureAutonomousPrograms();
         configureDefaultCommands();
 
-        pidtuner = new PidTuner(RobotContainer.DRIVER_STICK.DRIVER_STICK_BUTTON_SIX,
-                RobotContainer.DRIVER_STICK.DRIVER_STICK_BUTTON_SEVEN,
-                RobotContainer.DRIVER_STICK.DRIVER_STICK_BUTTON_ELEVEN,
-                RobotContainer.DRIVER_STICK.DRIVER_STICK_BUTTON_TEN, shooter);
+        pidtuner = new PidTuner(RobotContainer.DRIVER_STICK.DRIVER_STICK_ENA_BUTTON_SIX,
+                RobotContainer.DRIVER_STICK.DRIVER_STICK_ENA_BUTTON_SEVEN,
+                RobotContainer.DRIVER_STICK.DRIVER_STICK_ENA_BUTTON_ELEVEN,
+                RobotContainer.DRIVER_STICK.DRIVER_STICK_ENA_BUTTON_TEN, shooter);
     }
 
     public static void init() {
@@ -130,6 +130,7 @@ private void configureDriverPadButtons() {
         DRIVER_PAD.DRIVER_PAD_BLUE_BUTTON.whenPressed(new ShooterAdjustWheel(100.0));
         DRIVER_PAD.DRIVER_PAD_GREEN_BUTTON.whenPressed(new ShooterAdjustWheel(-100.0));
         DRIVER_PAD.DRIVER_PAD_RED_BUTTON.whenPressed(new ShooterSetWheel(0.0));
+        DRIVER_PAD.DRIVER_PAD_YELLOW_BUTTON.whenPressed(new ShooterSetWheel(4600));
 
         DRIVER_PAD.DRIVER_PAD_LEFT_UPPER_TRIGGER_BUTTON.whileHeld(new ShooterSetFeeder(0.5));
 

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

@@ -31,7 +31,7 @@ public void initialize() {
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    RobotContainer.climber.setWinchLeftSpeed(power);
+    RobotContainer.climber.setWinchLeftSpeed(-power);
     RobotContainer.climber.setWinchRightSpeed(power);
   }
 

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

@@ -19,7 +19,7 @@ public class MagazineSetChimney extends CommandBase {
    */
   public MagazineSetChimney(double d) {
     // Use addRequirements() here to declare subsystem dependencies.
-    addRequirements(RobotContainer.magazine);
+    addRequirements(RobotContainer.chimney);
     m_speed = d;
   }
 
@@ -32,11 +32,12 @@ public void initialize() {
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
+    RobotContainer.chimney.setChimneySpeed(0.0);
   }
 
   // Returns true when the command should end.
   @Override
   public boolean isFinished() {
-    return true;
+    return false;
   }
 }

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

@@ -37,7 +37,8 @@ public void periodic() {
   }
 
   void updateSmartDashboard() {
-    SmartDashboard.putNumber("Magazine Turntable", chimneyTalon.getSpeed());
+    SmartDashboard.putNumber("Chimney Speed", chimneyTalon.getSpeed());
+    SmartDashboard.putNumber("Chimney Current", chimneyTalon.getStatorCurrent());
   }
 
   void monitorTurntableMovement() {

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

@@ -30,19 +30,20 @@ public class Climber extends SubsystemBase {
    * Creates a new Climber.
    */
   public Climber() {
-    winchLeft.setNeutralMode(NeutralMode.Coast);
+    winchLeft.setNeutralMode(NeutralMode.Brake);
     winchLeft.configNominalOutputVoltage(+0.0f, -0.0f);
     winchLeft.configPeakOutputVoltage(+12.0, -12.0);
 
     winchRight.setNeutralMode(NeutralMode.Coast);
+    winchRight.setNeutralMode(NeutralMode.Brake);
     winchRight.configNominalOutputVoltage(+0.0f, -0.0f);
     winchRight.configPeakOutputVoltage(+12.0, -12.0);
 
-    walkerRight.setNeutralMode(NeutralMode.Coast);
+    walkerRight.setNeutralMode(NeutralMode.Brake);
     walkerRight.configNominalOutputVoltage(+0.0f, -0.0f);
     walkerRight.configPeakOutputVoltage(+12.0, -12.0);
 
-    walkerLeft.setNeutralMode(NeutralMode.Coast);
+    walkerLeft.setNeutralMode(NeutralMode.Brake);
     walkerLeft.configNominalOutputVoltage(+0.0f, -0.0f);
     walkerLeft.configPeakOutputVoltage(+12.0, -12.0);
 
@@ -56,8 +57,8 @@ public void zero() {
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    // SmartDashboard.putNumber("Climber Winch Left", winchLeft.getPosition());
-    // SmartDashboard.putNumber("Climber Winch Right", winchRight.getPosition());
+    SmartDashboard.putNumber("Climber Winch Left", winchLeft.getPosition());
+    SmartDashboard.putNumber("Climber Winch Right", winchRight.getPosition());
     // SmartDashboard.putNumber("Climber Walker Left", walkerLeft.getPosition());
     // SmartDashboard.putNumber("Climber Walker Right", walkerRight.getPosition());
     // SmartDashboard.putBoolean("Climber Pistons", pistons.get());

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

@@ -42,7 +42,8 @@ public void periodic() {
   }
 
   void updateSmartDashboard() {
-    SmartDashboard.putNumber("Magazine Turntable", turntableTalon.getSpeed());
+    SmartDashboard.putNumber("Magazine Speed", turntableTalon.getSpeed());
+    // SmartDashboard.putNumber("Magazine Speed", turntableTalon.getSpeed());
   }
 
   void monitorTurntableMovement() {

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

@@ -40,6 +40,11 @@ public Shooter() {
         configureWheelTalon();
         configureHoodTalon();
         configureFeederTalon();
+
+        shooterWheelTalon.config_kP(0, 3.0, 0);
+        shooterWheelTalon.config_kI(0, 0.0, 0);
+        shooterWheelTalon.config_kD(0, 0.0, 0);
+        shooterWheelTalon.config_kF(0, 0.048);// 1023.0 / convertRpmToTicksPer100ms(5760), 0);
     }
 
     public void init() {
@@ -72,10 +77,6 @@ private void configureHoodTalon() {
     }
 
     private void configureWheelTalon() {
-        shooterWheelTalon.config_kP(0, 0.0, 0);
-        shooterWheelTalon.config_kI(0, 0.0, 0);
-        shooterWheelTalon.config_kD(0, 0.0, 0);
-        shooterWheelTalon.config_kF(0, 1023.0 / convertRpmToTicksPer100ms(5760), 0);
 
         shooterWheelTalon.setFeedbackDevice(FeedbackDevice.IntegratedSensor);
 
@@ -163,6 +164,11 @@ public void setFeederSpeed(double pos) {
         feederTalon.set(ControlMode.PercentOutput, pos);
     }
 
+    /**
+     * Set shooter to rpm speed.
+     * 
+     * @param rpm
+     */
     public void setShooterWheelSpeed(double rpm) {
         double ticks = convertRpmToTicksPer100ms(rpm);
         m_targetSpeedRPM = rpm;

src/main/java/org/mayheminc/util/MayhemDriverStick.java

@@ -21,6 +21,11 @@ public class MayhemDriverStick {
     public final Button DRIVER_STICK_BUTTON_TEN = new DisabledOnlyJoystickButton(Joystick, 10);
     public final Button DRIVER_STICK_BUTTON_ELEVEN = new DisabledOnlyJoystickButton(Joystick, 11);
 
+    public final Button DRIVER_STICK_ENA_BUTTON_SIX = new EnabledOnlyJoystickButton(Joystick, 6);
+    public final Button DRIVER_STICK_ENA_BUTTON_SEVEN = new EnabledOnlyJoystickButton(Joystick, 7);
+    public final Button DRIVER_STICK_ENA_BUTTON_TEN = new EnabledOnlyJoystickButton(Joystick, 10);
+    public final Button DRIVER_STICK_ENA_BUTTON_ELEVEN = new EnabledOnlyJoystickButton(Joystick, 11);
+
     public final int DRIVER_STICK_X_AXIS = 0;
     public final int DRIVER_STICK_Y_AXIS = 1;