Merge pull request #11 from Team1810Robotics/Trap

added trap

.github/workflows/main.yml

@@ -25,7 +25,7 @@ jobs:
  with:
  distribution: 'zulu'
  java-version: 17
- - run: ./gradlew spotlessApply
+ - run: ./gradlew spotlessCheck
  # This workflow contains a single job called "build"
  build:
  # The type of runner that the job will run on

build.gradle

@@ -147,3 +147,9 @@ wpi.java.configureTestTasks(test)
 tasks.withType(JavaCompile) {
  options.compilerArgs.add '-XDstringConcat=inline'
 }
+
+tasks.register('updateGitHooks', Copy) {
+ from './scripts/pre-commit'
+ into './.git/hooks'
+}
+compileJava.dependsOn updateGitHooks

scripts/pre-commit

@@ -0,0 +1,12 @@
+#!/bin/sh
+# Part 1
+stagedFiles=$(git diff --staged --name-only)
+# Part 2
+echo "Running spotlessApply. Formatting code..."
+./gradlew spotlessApply
+# Part 3
+for file in $stagedFiles; do
+ if test -f "$file"; then
+ git add $file
+ fi
+done

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

@@ -99,4 +99,8 @@ public static final class IOConstants {
 
  public static final double DEADBAND = 0.3;
  }
+
+ public static final class TrapConstants {
+ public static final int VICTOR_MOTOR_PORT = 0;
+ }
 }

src/main/java/frc/robot/IO.java

@@ -36,32 +36,20 @@ public final class IO {
  public static final JoystickButton rightJoystick_button7 = new JoystickButton(leftJoystick, 7);
  public static final JoystickButton rightJoystick_button8 = new JoystickButton(leftJoystick, 8);
  public static final JoystickButton rightJoystick_button9 = new JoystickButton(leftJoystick, 9);
- public static final JoystickButton rightJoystick_button10 =
- new JoystickButton(leftJoystick, 10);
- public static final JoystickButton rightJoystick_button11 =
- new JoystickButton(leftJoystick, 11);
+ public static final JoystickButton rightJoystick_button10 = new JoystickButton(leftJoystick, 10);
+ public static final JoystickButton rightJoystick_button11 = new JoystickButton(leftJoystick, 11);
 
  // Xbox buttons
- public static final JoystickButton manipulatorXbox_A =
- new JoystickButton(xboxController, XboxController.Button.kA.value);
- public static final JoystickButton manipulatorXbox_B =
- new JoystickButton(xboxController, XboxController.Button.kB.value);
- public static final JoystickButton manipulatorXbox_X =
- new JoystickButton(xboxController, XboxController.Button.kX.value);
- public static final JoystickButton manipulatorXbox_Y =
- new JoystickButton(xboxController, XboxController.Button.kY.value);
- public static final JoystickButton manipulatorXbox_LB =
- new JoystickButton(xboxController, XboxController.Button.kLeftBumper.value);
- public static final JoystickButton manipulatorXbox_RB =
- new JoystickButton(xboxController, XboxController.Button.kRightBumper.value);
- public static final JoystickButton manipulatorXbox_Back =
- new JoystickButton(xboxController, XboxController.Button.kBack.value);
- public static final JoystickButton manipulatorXbox_Start =
- new JoystickButton(xboxController, XboxController.Button.kStart.value);
- public static final JoystickButton manipulatorXbox_LStick =
- new JoystickButton(xboxController, XboxController.Button.kLeftStick.value);
- public static final JoystickButton manipulatorXbox_RStick =
- new JoystickButton(xboxController, XboxController.Button.kRightStick.value);
+ public static final JoystickButton manipulatorXbox_A = new JoystickButton(xboxController, XboxController.Button.kA.value);
+ public static final JoystickButton manipulatorXbox_B = new JoystickButton(xboxController, XboxController.Button.kB.value);
+ public static final JoystickButton manipulatorXbox_X = new JoystickButton(xboxController, XboxController.Button.kX.value);
+ public static final JoystickButton manipulatorXbox_Y = new JoystickButton(xboxController, XboxController.Button.kY.value);
+ public static final JoystickButton manipulatorXbox_LB = new JoystickButton(xboxController, XboxController.Button.kLeftBumper.value);
+ public static final JoystickButton manipulatorXbox_RB = new JoystickButton(xboxController, XboxController.Button.kRightBumper.value);
+ public static final JoystickButton manipulatorXbox_Back = new JoystickButton(xboxController, XboxController.Button.kBack.value);
+ public static final JoystickButton manipulatorXbox_Start = new JoystickButton(xboxController, XboxController.Button.kStart.value);
+ public static final JoystickButton manipulatorXbox_LStick = new JoystickButton(xboxController, XboxController.Button.kLeftStick.value);
+ public static final JoystickButton manipulatorXbox_RStick = new JoystickButton(xboxController, XboxController.Button.kRightStick.value);
 
  private IO() {
  /* what does sleep feel like */

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

@@ -14,9 +14,13 @@ public IntakeCommand(IntakeSubsystem intakeSubsystem, double intakeSpeed) {
  addRequirements(intakeSubsystem);
  }
 
- @Override
  public void execute() {
  intakeSubsystem.setSpeed(intakeSpeed);
+ boolean beam = intakeSubsystem.getBeamBreak();
+
+ if (beam = true) {
+ intakeSubsystem.setSpeed(0);
+ }
  }
 
  @Override

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

@@ -0,0 +1,26 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.TrapSubsystem;
+
+public class TrapCommand extends Command {
+
+ TrapSubsystem trapsubsystem;
+
+ double trap;
+
+ public TrapCommand(TrapSubsystem trapSubsystem, double trap) {
+ this.trap = trap;
+ this.trapsubsystem = trapSubsystem;
+
+ addRequirements(trapSubsystem);
+ }
+
+ public void execute() {
+ trapsubsystem.motorOn(trap);
+ }
+
+ public void end() {
+ trapsubsystem.motorOff();
+ }
+}

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

@@ -9,7 +9,7 @@
 public class IntakeSubsystem extends SubsystemBase {
 
  CANSparkMax motor = new CANSparkMax(Constants.IntakeConstants.MOTOR_ID, MotorType.kBrushless);
- DigitalInput input = new DigitalInput(Constants.IntakeConstants.BEAM_BREAK_PORT);
+ DigitalInput beam = new DigitalInput(Constants.IntakeConstants.BEAM_BREAK_PORT);
 
  public void setSpeed(double motorSpeed) {
  motor.set(motorSpeed);
@@ -20,6 +20,8 @@ public void stop() {
  }
 
  public boolean getBeamBreak() {
- return input.get();
+ return beam.get();
  }
+
+ public IntakeSubsystem() {}
 }

src/main/java/frc/robot/subsystems/TrapSubsystem.java

@@ -0,0 +1,18 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class TrapSubsystem extends SubsystemBase {
+
+ VictorSP victor = new VictorSP(Constants.TrapConstants.VICTOR_MOTOR_PORT);
+
+ public void motorOn(double victorSpeed) {
+ victor.set(victorSpeed);
+ }
+
+ public void motorOff() {
+ victor.set(0);
+ }
+}