Climber maaz

PathWeaver/Groups/3ball5ball

@@ -0,0 +1,3 @@
+TurnToShoot
+GoGetTrenchBalls
+ShortTrenchShot

PathWeaver/Paths/GoGetTrenchBalls

@@ -0,0 +1,10 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+39.469,-23.026,3.145,0.983,true,
+40.99788767222257,-21.98806166855897,0.9856131227182431,0.6147118965576142,false,
+42.417713959432476,-21.16893111824556,3.3311309046078534,1.0921740670845423,true,
+44.27440987347619,-21.878844261850517,2.2389568375233324,0.5460870335422747,true,
+43.40067061980857,-23.462496659123104,4.150261454921264,1.2013914737929987,true,
+40.888670265514115,-24.390844616144967,4.259478861629724,0.5460870335422712,true,
+37.39371325084357,-24.445453319499194,3.6041744213789997,0.0,true,
+35.75545215021677,-24.500062022853424,3.7133918280874454,0.05460870335422996,true,
+18.772145407052076,-24.390844616144967,5.515479038776956,0.10921740670845281,true,

PathWeaver/Paths/ShortTrenchShot

@@ -0,0 +1,4 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+18.772,-24.391,5.40640703912058,0.10937279056348359,true,
+31.113712365107432,-24.55467072620765,0.6006957368964976,0.0,true,
+31.22292977181589,-24.17240980272806,2.4027829475860045,0.8191305503134103,true,

PathWeaver/Paths/TurnToShoot

@@ -0,0 +1,3 @@
+X,Y,Tangent X,Tangent Y,Fixed Theta,Name
+42.0,-24.336235912790745,-4.31408756498395,-0.05460870335423351,true,
+39.468843978304214,-23.025627032289286,3.1446704426613508,0.9829566603760895,true,

PathWeaver/pathweaver.json

@@ -0,0 +1,8 @@
+{
+  "lengthUnit": "Foot",
+  "maxVelocity": 10.0,
+  "maxAcceleration": 10.0,
+  "wheelBase": 2.08854,
+  "gameName": "Infinite Recharge",
+  "outputDir": ""
+}

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2020.1.2"
+    id "edu.wpi.first.GradleRIO" version "2020.2.2"
 }
 
 sourceCompatibility = JavaVersion.VERSION_11

src/main/java/frc/robot/Constants.java

@@ -44,4 +44,16 @@ public final class Constants {
 
 	public static final double MANUAL_POWER = .2;
 
+     //climber
+     public static final double CLIMBER_CREEP = 0.25;
+    // public static final double kSelfClimbGoRight = 0.1;
+    // public static final double kSelfClimbGoLeft= -0.1;
+
+     //Global
+     public static final boolean kToExtendArm = true;
+
+     //Panel Mech
+     public static final double PANEL_MECH_CREEP = 0.1;
+     public static final double PANEL_MECH_FAST = 0.5;
+
 }

src/main/java/frc/robot/OI.java

@@ -12,6 +12,7 @@
 import frc.robot.Autons.stopElevatorShooter;
 import frc.robot.Autons.stopHopperElevator;
 import frc.robot.commands.*;
+import frc.robot.commands.Climb.*;
 // import frc.robot.commands.auto.SetLimit;
 import frc.robot.controller.AnalogButton;
 import frc.robot.controller.DPadButton;
@@ -74,11 +75,15 @@ public OI() {
         //THESE TWO LINES ARE FOR TESTING
         //LEAVE OUT driverA.whenPressed(new AutoSetLifterPots());
         //LEAVE OUT driverB.whenPressed(new ExtendBothLifters(.8,false,driverStick,false));
-        driverA.whenPressed(new MoveShooter());
-        driverA.whenReleased(new StopShooter());
-        driverB.whenPressed(new MoveElevator());
-        driverB.whenReleased(new StopElevator());
-        driverX.whenPressed(new MoveHopper());
+        // driverA.whenPressed(new MoveShooter());
+        // driverA.whenReleased(new StopShooter());
+        // driverB.whenPressed(new MoveElevator());
+        // driverB.whenReleased(new StopElevator());
+        driverA.whenPressed(new ExtendPanelMech());
+        driverB.whenPressed(new SetPanelMech());
+        driverA.whenReleased(new DefaultPanelMech());
+
+      //  driverX.whenPressed(new MoveHopper());
         driverX.whenReleased(new StopHopper());
         driverY.whenPressed(new MoveDrivetrain());
         driverY.whenReleased(new StopDrivetrain());
@@ -89,6 +94,18 @@ public OI() {
         driverLS.whenPressed(new runElevatorShooter());
         driverLS.whenReleased(new stopElevatorShooter());
         operatorLeftJoystickUsed.whenPressed(new RunHopperWithJoystick(operatorLeftJoystickUsed));
+
+
+        operatorX.whenPressed(new ReleasePin());
+        operatorY.whenPressed(new WinchClimb());
+        operatorY.whenReleased(new StopWinchClimb());
+     //   operatorA.whenPressed(new ActivePosition()); 
+
+
+
+
+
+
         // //true does right hp far rocket path, false does right hp bay 1 ship path
         // // driverY.whenReleased(new StopCargoMotor());
         // driverRB.whileHeld(new DriveWithJoystickLeftTalon());

src/main/java/frc/robot/Robot.java

@@ -8,7 +8,8 @@
 import frc.robot.subsystems.Hopper;
 import frc.robot.subsystems.Shooter;
 import edu.wpi.first.wpilibj.Compressor;
-
+import frc.robot.subsystems.Climber;
+import frc.robot.subsystems.*;
 
 
 public class Robot extends TimedRobot {
@@ -22,16 +23,18 @@ public class Robot extends TimedRobot {
     public static Elevator elevator;
     public static Hopper hopper;
     public static RobotMap robotmap;
-
+    public static Climber climber;
+    public static PanelMech panelMech;
     @Override
     public void robotInit() {
         hopper = new Hopper();
         elevator = new Elevator();
         shooter = new Shooter();
         drivetrain = new Drivetrain();
         pdp = new PowerDistributionPanel(RobotMap.kPDP);
-         oi = new OI(); 
+        oi = new OI(); 
         robotmap = new RobotMap();
+        climber = new Climber();
     }
 
     @Override

src/main/java/frc/robot/RobotMap.java

@@ -76,5 +76,15 @@ public class RobotMap {
     public static final int HOPPER_TALON = 24;
     //Drivetrain
   public static final int DRIVETRAIN_NEO = 22;
-
+
+  //Climber
+  public static final int WINCH_NEO=60;
+  public static final int SELFCLIMB_NEO=61;
+
+ public static final int CLIMB_SOLENOID=0;  
+//  public static final int CLIMB_GYRO=1;
+
+  //PanelMech
+  public static final int PANEL_NEO=50;
+  public static final int PANEL_SOLENOID=2;
 }

src/main/java/frc/robot/commands/Climb/ActivePosition.java

@@ -0,0 +1,83 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 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 frc.robot.commands.Climb;
+
+// import edu.wpi.first.wpilibj.command.Command;
+// import frc.robot.Robot;
+// import edu.wpi.first.wpilibj.GyroBase;
+// import frc.robot.Constants;
+
+// public class ActivePosition extends Command {
+//   private GyroBase climbGyro;
+//   double angle, turn;
+//   public ActivePosition() {
+//     super("ActivePosition");
+//    // requires(Robot.Climber);
+//   }
+
+//   public double getGyroAngle() {
+
+//     angle=climbGyro.getAngle();
+//       return climbGyro.getAngle();
+
+
+// }
+
+//   // Called just before this Command runs the first time
+//   @Override
+//   protected void initialize() {
+//   }
+
+//   // Called repeatedly when this Command is scheduled to run
+//   @Override
+//   protected void execute() {
+//      angle=climbGyro.getAngle();
+
+
+//       if(angle==0){
+//       turn=0;
+
+//      }
+//       else if(angle/360==0){  
+
+//       turn=0;
+//     }   
+//       else if(angle>270&&angle<360){
+
+//         turn=Constants.kSelfClimbGoRight;
+//       }
+
+//       else if(angle<90&&angle>0){ 
+//         turn=Constants.kSelfClimbGoLeft;
+//       }
+
+
+//       Robot.climber.setSelfClimbOutput(turn);
+//    }
+
+
+
+
+//   // Make this return true when this Command no longer needs to run execute()
+//   @Override
+//   protected boolean isFinished() {
+//     return false;
+//   }
+
+//   // Called once after isFinished returns true
+//   @Override
+//   protected void end() {
+//     Robot.climber.setSelfClimbOutput(0);
+//   }
+
+//   // Called when another command which requires one or more of the same
+//   // subsystems is scheduled to run
+//   @Override
+//   protected void interrupted() {
+//   }
+// }

src/main/java/frc/robot/commands/Climb/ReleasePin.java

@@ -0,0 +1,40 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 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 frc.robot.commands.Climb;
+import frc.robot.Robot;
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.subsystems.Climber;
+
+public class ReleasePin extends Command {
+  public ReleasePin() {
+      super("ReleasePin");
+      requires(Robot.climber);
+  }
+
+
+  protected void initialize() {
+
+  }
+
+  protected void execute() {
+    Robot.climber.setPinExtender(false);
+  }
+
+  protected boolean isFinished() {
+    return false;
+  }
+
+  protected void end() {
+
+    Robot.climber.setPinExtender(true);
+  }
+
+  protected void interrupted() {
+
+  }
+}

src/main/java/frc/robot/commands/Climb/StopWinchClimb.java

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 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 frc.robot.commands.Climb;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Robot;
+
+public class StopWinchClimb extends Command {
+  public StopWinchClimb() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    Robot.climber.setWinchOutput(0);
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+    Robot.climber.setWinchOutput(0);
+
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}

src/main/java/frc/robot/commands/Climb/WinchClimb.java

@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018 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 frc.robot.commands.Climb;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Robot;
+
+public class WinchClimb extends Command {
+  public WinchClimb() {
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    Robot.climber.setWinchOutput(1);
+  }
+
+  // Make this return true when this Command no longer needs to run execute()
+  @Override
+  protected boolean isFinished() {
+    return false;
+  }
+
+  // Called once after isFinished returns true
+  @Override
+  protected void end() {
+    Robot.climber.setWinchOutput(1);
+
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}