Cp testing

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

@@ -103,5 +103,16 @@ public final class Constants {
 	public static final double TURN_FACTOR = 0.2;
 
 
-	public static final int BALL_VALUE = 2300;
+
+    public static final int BALL_VALUE = 2050;
+
+     //Panel Mech
+     public static final double PANEL_MECH_CREEP = 0.1;
+     public static final double PANEL_MECH_FAST = 0.5;
+     public static int PanelNum=2;
+     public static int SpinNum=0;
+
+     //cameras
+     public static int camnum=0;
+
 }

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

@@ -3,6 +3,7 @@
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.buttons.Button;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
+
 import frc.robot.Autons.ShooterGroupLong;
 import frc.robot.Autons.ShooterGroupWall;
 import frc.robot.Autons.Stop;
@@ -14,7 +15,16 @@
 import frc.robot.commands.Shooter.CloseHopperPiston;
 import frc.robot.commands.Shooter.LongShotHood;
 
+
 import frc.robot.commands.Shooter.OpenHopperPiston;
+import frc.robot.commands.Shooter.RetractHood;
+import frc.robot.commands.Shooter.ExtendHood;
+import frc.robot.commands.Shooter.MoveShooterWall;
+import frc.robot.commands.Shooter.MoveShooterLong;
+import frc.robot.commands.setCameraOne;
+import frc.robot.commands.setCameraTwo;
+import frc.robot.commands.setCameraThree;
+import frc.robot.commands.Shooter.CheckHoodWall;
 // import frc.robot.commands.auto.SetLimit;
 import frc.robot.controller.AnalogButton;
 import frc.robot.controller.DPadButton;
@@ -30,29 +40,29 @@
 // import frc.robot.commands.CargoManipulator.ScoreInRocketCalculated;
 // import frc.robot.commands.CargoManipulator.ScoreInRocketDropper;
 // import frc.robot.commands.auto.AutoSetLifterPots;
-                    //               _____
-                    //              |     |
-                    //              | | | |
-                    //              |_____|
-                    //        ____ ___|_|___ ____
-                    //       ()___)         ()___)
-                    //       // /|           |\ \\
-                    //      // / |           | \ \\
-                    //     (___) |___________| (___)
-                    //     (___)   (_______)   (___)
-                    //     (___)     (___)     (___)
-                    //     (___)      |_|      (___)
-                    //     (___)  ___/___\___   | |
-                    //      | |  |           |  | |
-                    //      | |  |___________| /___\
-                    //     /___\  |||     ||| //   \\
-                    //    //   \\ |||     ||| \\   //
-                    //    \\   // |||     |||  \\ //
-                    //     \\ // ()__)   (__()
-                    //           ///       \\\
-                    //          ///         \\\
-                    //        _///___     ___\\\_
-                    //       |_______|   |_______|
+//               _____
+//              |     |
+//              | | | |
+//              |_____|
+//        ____ ___|_|___ ____
+//       ()___)         ()___)
+//       // /|           |\ \\
+//      // / |           | \ \\
+//     (___) |___________| (___)
+//     (___)   (_______)   (___)
+//     (___)     (___)     (___)
+//     (___)      |_|      (___)
+//     (___)  ___/___\___   | |
+//      | |  |           |  | |
+//      | |  |___________| /___\
+//     /___\  |||     ||| //   \\
+//    //   \\ |||     ||| \\   //
+//    \\   // |||     |||  \\ //
+//     \\ // ()__)   (__()
+//           ///       \\\
+//          ///         \\\
+//        _///___     ___\\\_
+//       |_______|   |_______|
 
 public class OI {
     public static Joystick driverStick;
@@ -70,19 +80,22 @@ public class OI {
     private Button driverRX;
     protected Button operatorLeftJoystickUsed, operatorRightJoystickUsed, operatorDPadDown, operatorDPadLeft, operatorDPadRight;
     private Button operatorA, operatorB, operatorX, operatorY;
+
     public OI() {
         driverStick = new Joystick(0);
         operatorStick = new Joystick(1);
         initButtons();
         initUsed();
 
-       driveButton.whileHeld(new DriveWithJoystick(driverStick, 0.1)); // TODO CHANGE DEADZONE VALUE IT MIGHT NOT BE THE SAME 
-
-       //LEAVE OUT driverStart.whileHeld(new ExtendBothLifters(.8,false,driverStick));
+        driveButton.whileHeld(new DriveWithJoystick(driverStick, 0.1)); // TODO CHANGE DEADZONE VALUE IT MIGHT NOT BE
+                                                                        // THE SAME
+
+        // LEAVE OUT driverStart.whileHeld(new ExtendBothLifters(.8,false,driverStick));
 
-        //THESE TWO LINES ARE FOR TESTING
-        //LEAVE OUT driverA.whenPressed(new AutoSetLifterPots());
-        //LEAVE OUT driverB.whenPressed(new ExtendBothLifters(.8,false,driverStick,false));
+        // 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());
@@ -100,12 +113,18 @@ public OI() {
 
         driverB.whenPressed(new OpenHopperPiston());
         driverB.whenReleased(new CloseHopperPiston());
-
+
+        driverX.whileHeld(new ExtendPanelMech());
+        driverY.whileHeld(new SetPanelMech());
+
+
         // driverRB.whenPressed(new ShooterGroupWall());
         // driverRB.whenReleased(new StopShooterGroupWall());
 
 
         // driverLB.whenReleased(new StopShooterGroupLong());
+ // driverLB.whenPressed(new runHopperElevator());
+
         operatorDPadLeft.whenPressed(new ShooterGroupLong());
         operatorDPadLeft.whenReleased(new Stop());
 
@@ -133,6 +152,7 @@ public OI() {
 
 
 
+
         // driverLB.whenReleased(new stopHopperElevator());
         // driverLS.whenPressed(new runElevatorShooter());
         // driverLS.whenReleased(new stopElevatorShooter());

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

@@ -29,14 +29,15 @@ public class Robot extends TimedRobot {
     // public static PanelMech panelMech;
     public static CameraServer Cam;
     public static CameraSwitch Cam_switch; 
+    public static PanelMech panelMech; 
 
     @Override
     public void robotInit() {
         hopper = new Hopper();
         shooter = new Shooter();
         drivetrain = new Drivetrain();
         manipulator = new Manipulator();
-        // controlPan = new ControlPan();
+        panelMech = new PanelMech();
         pdp = new PowerDistributionPanel(RobotMap.kPDP);
         oi = new OI(); 
         robotmap = new RobotMap();
@@ -81,6 +82,7 @@ public void teleopInit() {
         // autoCommand.cancel();
         compressor.start(); 
         System.out.println("This is init");
+
 
 
     }
@@ -98,6 +100,7 @@ public void teleopPeriodic() {
         // Robot.drivetrain.setLeftTalon(.7);
         // Robot.drivetrain.setRightNeo(1);
          // 0.5 power is the sweet spot for wall, 0.8  for current at angle of 39 degrees
+         //Cam_switch.select(CameraSwitch.kcamera1);
         Scheduler.getInstance().run();
     }
     @Override

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

@@ -95,5 +95,7 @@ public class RobotMap {
 public static final int MANIPULATOR_SOLENOID = 6;
 public static final int MANIPULATOR_NEO = 40;
 public static final int MECHNECK = 50; 
-
+//PanelMech
+public static final int PANEL_NEO=50;
+public static final int PANEL_SOLENOID=2;
 }

src/main/java/frc/robot/commands/DefaultPanelMech.java

@@ -0,0 +1,43 @@
+package frc.robot.commands;
+import frc.robot.Robot;
+import edu.wpi.first.wpilibj.command.Command;
+
+
+public class DefaultPanelMech extends Command {
+  public DefaultPanelMech() {
+    super("DefaultPanelMech");
+
+    requires(Robot.panelMech);
+    // 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.panelMech.extendPanelMech(false);
+
+  }
+
+  // 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() {
+  }
+
+  // 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/ExtendPanelMech.java

@@ -0,0 +1,55 @@
+package frc.robot.commands;
+import frc.robot.Robot;
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Constants;
+
+
+
+public class ExtendPanelMech extends Command {
+  public ExtendPanelMech() {
+    super("ExtendPanelMech");
+
+    requires(Robot.panelMech);
+    // Use requires() here to declare subsystem dependencies
+    // eg. requires(chassis);
+  }
+
+  // Called just before this Command runs the first time
+  @Override
+  protected void initialize() {
+    Constants.SpinNum++;
+    if(Constants.SpinNum==2){
+      Constants.SpinNum=0;
+    }
+  }
+
+  // Called repeatedly when this Command is scheduled to run
+  @Override
+  protected void execute() {
+    if(Constants.SpinNum==0){
+    Robot.panelMech.extendPanelMech(true);
+
+  }
+  else{
+    Robot.panelMech.extendPanelMech(false);
+  }
+}
+
+  // 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.panelMech.extendPanelMech(false);
+  }
+
+  // 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/IntakeOff.java

@@ -0,0 +1,46 @@
+/*----------------------------------------------------------------------------*/
+/* 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;
+import frc.robot.Constants;
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.Robot;
+
+public class IntakeOff extends Command {
+  public IntakeOff() {
+    // 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.manipulator.setManipulator(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() {
+  }
+
+  // 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/IntakeOn.java

@@ -0,0 +1,44 @@
+/*----------------------------------------------------------------------------*/
+/* 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;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+public class IntakeOn extends Command {
+  public IntakeOn() {
+    // 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() {
+  }
+
+  // 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() {
+  }
+
+  // Called when another command which requires one or more of the same
+  // subsystems is scheduled to run
+  @Override
+  protected void interrupted() {
+  }
+}