From 227ea9d39d61cdfa2e86808dcbabd2d83af8933f Mon Sep 17 00:00:00 2001 From: Chad Connally Date: Thu, 15 Feb 2018 20:14:13 -0700 Subject: [PATCH 1/2] added bump commands --- .../main/java/org/teamtators/levitator/commands/BumpLift.java | 4 ++++ .../java/org/teamtators/levitator/commands/BumpPivot.java | 4 ++++ 2 files changed, 8 insertions(+) create mode 100644 rio/src/main/java/org/teamtators/levitator/commands/BumpLift.java create mode 100644 rio/src/main/java/org/teamtators/levitator/commands/BumpPivot.java diff --git a/rio/src/main/java/org/teamtators/levitator/commands/BumpLift.java b/rio/src/main/java/org/teamtators/levitator/commands/BumpLift.java new file mode 100644 index 00000000..910cb0c1 --- /dev/null +++ b/rio/src/main/java/org/teamtators/levitator/commands/BumpLift.java @@ -0,0 +1,4 @@ +package org.teamtators.levitator.commands; + +public class BumpLift { +} diff --git a/rio/src/main/java/org/teamtators/levitator/commands/BumpPivot.java b/rio/src/main/java/org/teamtators/levitator/commands/BumpPivot.java new file mode 100644 index 00000000..576ff1cf --- /dev/null +++ b/rio/src/main/java/org/teamtators/levitator/commands/BumpPivot.java @@ -0,0 +1,4 @@ +package org.teamtators.levitator.commands; + +public class PivotLift { +} From 4770c20981292ca809ad06f380ad386895cd2c59 Mon Sep 17 00:00:00 2001 From: Chad Connally Date: Thu, 15 Feb 2018 20:21:19 -0700 Subject: [PATCH 2/2] added bump commands --- .../levitator/commands/BumpLift.java | 21 +++++++++++++++++- .../levitator/commands/BumpPivot.java | 22 ++++++++++++++++++- .../levitator/commands/CommandRegistrar.java | 6 ++--- .../teamtators/levitator/subsystems/Lift.java | 16 -------------- 4 files changed, 43 insertions(+), 22 deletions(-) diff --git a/rio/src/main/java/org/teamtators/levitator/commands/BumpLift.java b/rio/src/main/java/org/teamtators/levitator/commands/BumpLift.java index 910cb0c1..64af0cd5 100644 --- a/rio/src/main/java/org/teamtators/levitator/commands/BumpLift.java +++ b/rio/src/main/java/org/teamtators/levitator/commands/BumpLift.java @@ -1,4 +1,23 @@ package org.teamtators.levitator.commands; -public class BumpLift { +import org.teamtators.common.scheduler.Command; +import org.teamtators.levitator.TatorRobot; +import org.teamtators.levitator.subsystems.Lift; + +public class BumpLift extends Command{ + + private Lift lift; + private double bumpheight; + + public BumpLift(TatorRobot robot, boolean goUp, double bumpHeight) { + super("bumpLift"); + lift = robot.getSubsystems().getLift(); + requires(lift); + } + + @Override + protected boolean step() { + lift.setDesiredHeight(lift.getCurrentHeight() + bumpheight); + return true; + } } diff --git a/rio/src/main/java/org/teamtators/levitator/commands/BumpPivot.java b/rio/src/main/java/org/teamtators/levitator/commands/BumpPivot.java index 576ff1cf..d2b99915 100644 --- a/rio/src/main/java/org/teamtators/levitator/commands/BumpPivot.java +++ b/rio/src/main/java/org/teamtators/levitator/commands/BumpPivot.java @@ -1,4 +1,24 @@ package org.teamtators.levitator.commands; -public class PivotLift { +import org.teamtators.common.scheduler.Command; +import org.teamtators.levitator.TatorRobot; +import org.teamtators.levitator.subsystems.Lift; + +public class BumpPivot extends Command { + + private Lift lift; + private double bumpAngle; + + public BumpPivot(TatorRobot robot, boolean pivotRight, double bumpAngle) { + super("bumpPivot"); + lift = robot.getSubsystems().getLift(); + requires(lift); + } + + @Override + protected boolean step() { + lift.setDesiredPivotAngle(lift.getCurrentPivotAngle() + bumpAngle); + return true; + } + } diff --git a/rio/src/main/java/org/teamtators/levitator/commands/CommandRegistrar.java b/rio/src/main/java/org/teamtators/levitator/commands/CommandRegistrar.java index cc93da8b..9f9b20bc 100644 --- a/rio/src/main/java/org/teamtators/levitator/commands/CommandRegistrar.java +++ b/rio/src/main/java/org/teamtators/levitator/commands/CommandRegistrar.java @@ -31,9 +31,7 @@ public void register(ConfigCommandStore commandStore) { commandStore.putCommand("PickerExtend", Commands.instant(picker::extend, picker)); commandStore.putCommand("PickerRetract", Commands.instant(picker::retract, picker)); - commandStore.putCommand("BumpLiftUp", Commands.instant(lift::bumpLiftUp)); - commandStore.putCommand("BumpLiftDown", Commands.instant(lift::bumpLiftDown)); - commandStore.putCommand("BumpPivotRight", Commands.instant(lift::bumpPivotRight)); - commandStore.putCommand("BumpPivotLeft", Commands.instant(lift::bumpPivotRight)); + commandStore.registerCommand("BumpLift", () -> new BumpLift(robot, true, 8)); + commandStore.registerCommand("BumpPivot", () -> new BumpPivot(robot, false, 56)); } } diff --git a/rio/src/main/java/org/teamtators/levitator/subsystems/Lift.java b/rio/src/main/java/org/teamtators/levitator/subsystems/Lift.java index 71981182..a432eaa7 100644 --- a/rio/src/main/java/org/teamtators/levitator/subsystems/Lift.java +++ b/rio/src/main/java/org/teamtators/levitator/subsystems/Lift.java @@ -209,22 +209,6 @@ public void setLiftPower(double liftPower) { liftMotor.set(liftPower); } - public void bumpLiftUp() { - setDesiredHeight(getCurrentHeight() + config.bumpHeightValue); - } - - public void bumpLiftDown() { - setDesiredHeight(getCurrentHeight() - config.bumpHeightValue); - } - - public void bumpPivotRight() { - setDesiredPivotAngle(getCurrentPivotAngle() + config.bumpPivotValue); - } - - public void bumpPivotLeft() { - setDesiredPivotAngle(getCurrentPivotAngle() - config.bumpPivotValue); - } - public void setPivotPower(double pivotPower) { pivotMotor.set(pivotPower); }