Merge branch 'main' of https://github.com/primo4586/RobotCode2024 int…

…o PreperForShooting

# Conflicts:
#	src/main/java/frc/robot/Constants.java

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

@@ -308,16 +308,26 @@ public static class ShooterConstants {
         .put(2.1, 10.2);
 
     }
-    public static class CollectingConstants{
+    public static class IntakeConstants{
         public static final int SwitchID=1;
-        public static final int CollectingMotorID=10;
+        public static final int IntakeMotorID=10;
+        public static final double getNoteSpeed = 0.0;
+        public static final double GroundIntakePose = 0.0;
     }
   public static class FeederConstants{
 
     public static final int FeederShootSpeed = 20;
     public static final int FeederMotorId = 3;
+    public static final int SwitchID = 0;
     public static final double FeederMotorSpeed = 0.8;
+    public static final double getNoteSpeed = 0;
 
   }
+
+    public static class TrapArmConstants{
+        public static final int ArmMotorID = 10;
+        public static final int InnerSwitchID= 0;
+        public static final int OuterSwitchID= 10;
 
+    }
 }

src/main/java/frc/robot/commands/IntakeCommands/CollectToFeeder.java

@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.IntakeCommands;
+
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import frc.robot.Constants.IntakeConstants;
+import frc.robot.commands.IntakeArmCommands.MoveIntakeArmToDegree;
+import frc.robot.commands.feederCommands.FeedUntilNote;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class CollectToFeeder extends ParallelCommandGroup {
+  /** Creates a new MoveIntakeToCollectNote. */
+  public CollectToFeeder() {
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(
+      new IntakeSetSpeed(IntakeConstants.getNoteSpeed),
+      new FeedUntilNote(),
+      new MoveIntakeArmToDegree(IntakeConstants.GroundIntakePose));
+  }
+}

src/main/java/frc/robot/commands/CollectingCommands/setSpeedUntilFeedCommand.java → src/main/java/frc/robot/commands/IntakeCommands/InatkeUntilNote.java

@@ -2,16 +2,16 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot.commands.CollectingCommands;
+package frc.robot.commands.IntakeCommands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.CollectingSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
 
-public class setSpeedUntilFeedCommand extends Command {
-  private final CollectingSubsystem collectingSubsystem = CollectingSubsystem.getInstance();
+public class InatkeUntilNote extends Command {
+  private final IntakeSubsystem collectingSubsystem = IntakeSubsystem.getInstance();
   double speed;
   /** Creates a new setSpeedUntilFeedCommand. */
-  public setSpeedUntilFeedCommand(double speed) {
+  public InatkeUntilNote(double speed) {
     addRequirements(collectingSubsystem);
     this.speed=speed;
     // Use addRequirements() here to declare subsystem dependencies.

src/main/java/frc/robot/commands/CollectingCommands/setSpeedCommand.java → src/main/java/frc/robot/commands/IntakeCommands/IntakeSetSpeed.java

@@ -2,19 +2,19 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot.commands.CollectingCommands;
+package frc.robot.commands.IntakeCommands;
 
 import edu.wpi.first.wpilibj2.command.InstantCommand;
-import frc.robot.subsystems.CollectingSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
 
 // NOTE:  Consider using this command inline, rather than writing a subclass.  For more
 // information, see:
 // https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
-public class setSpeedCommand extends InstantCommand {
-  private final CollectingSubsystem collectingSubsystem = CollectingSubsystem.getInstance();
+public class IntakeSetSpeed extends InstantCommand {
+  private final IntakeSubsystem collectingSubsystem = IntakeSubsystem.getInstance();
   double speed;
 /** Creates a new setSpeedCommand. */
-  public setSpeedCommand(double speed) {
+  public IntakeSetSpeed(double speed) {
     addRequirements(collectingSubsystem);
     this.speed = speed;
     // Use addRequirements() here to declare subsystem dependencies.

src/main/java/frc/robot/commands/TrapArmCommands/goInSwitchCommand.java

@@ -0,0 +1,37 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.TrapArmCommands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.TrapArmSubsystem;
+
+public class goInSwitchCommand extends Command {
+  private final TrapArmSubsystem trapArmSubsystem= TrapArmSubsystem.getInstance();
+  /** Creates a new goInSwitch. */
+  public goInSwitchCommand() {
+    addRequirements(trapArmSubsystem);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    trapArmSubsystem.setSpeed(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return trapArmSubsystem.getInnerSwitch();
+  }
+}

src/main/java/frc/robot/commands/TrapArmCommands/goOutSwitchCommand.java

@@ -0,0 +1,37 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.TrapArmCommands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.TrapArmSubsystem;
+
+public class goOutSwitchCommand extends Command {
+  private final TrapArmSubsystem trapArmSubsystem= TrapArmSubsystem.getInstance();
+  /** Creates a new goOutSwitch. */
+  public goOutSwitchCommand() {
+    addRequirements(trapArmSubsystem);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    trapArmSubsystem.setSpeed(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return trapArmSubsystem.getOuterSwitch();
+  }
+}

src/main/java/frc/robot/commands/TrapArmCommands/setSpeedCommand.java

@@ -0,0 +1,25 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.TrapArmCommands;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+import frc.robot.subsystems.TrapArmSubsystem;
+
+public class setSpeedCommand extends InstantCommand {
+  private final TrapArmSubsystem trapArmSubsystem= TrapArmSubsystem.getInstance();
+  double speed;
+  /** Creates a new setSpeedCommand. */
+  public setSpeedCommand(double speed) {
+    addRequirements(trapArmSubsystem);
+    this.speed = speed;
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    trapArmSubsystem.setSpeed(speed);
+  }
+}

src/main/java/frc/robot/commands/feederCommands/FeedUntilNote.java

@@ -0,0 +1,39 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands.feederCommands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.Constants.FeederConstants;
+import frc.robot.subsystems.FeederSubsystem;
+
+public class FeedUntilNote extends Command {
+  private final FeederSubsystem feederSubsystem = FeederSubsystem.getInstance();
+  /** Creates a new FeedUntilNote. */
+  public FeedUntilNote() {
+    addRequirements(feederSubsystem);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    feederSubsystem.setSpeed(FeederConstants.getNoteSpeed);}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    feederSubsystem.setSpeed(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return feederSubsystem.getSwitch();
+  }
+}

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

@@ -6,6 +6,8 @@
 
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 import static frc.robot.Constants.FeederConstants.*;
@@ -15,10 +17,12 @@ public class FeederSubsystem extends SubsystemBase {
 
   //the feeder's motor
   TalonSRX m_Feeder;
+  DigitalInput lazerSensor;
 
   //constructor
   private FeederSubsystem(){
     m_Feeder = new TalonSRX(FeederMotorId);
+    this.lazerSensor = new DigitalInput(SwitchID);
   }
 
   // singelton
@@ -36,6 +40,10 @@ public void setSpeed(double motorSpeed){
     m_Feeder.set(ControlMode.PercentOutput, motorSpeed);
   }
 
+  public boolean getSwitch(){
+    return lazerSensor.get();
+  }
+
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

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

@@ -9,29 +9,29 @@
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-import static frc.robot.Constants.CollectingConstants.*;
+import static frc.robot.Constants.IntakeConstants.*;
 
-public class CollectingSubsystem extends SubsystemBase {
-  private TalonSRX m_collecting;
+public class IntakeSubsystem extends SubsystemBase {
+  private TalonSRX m_Intake;
   DigitalInput lazerSensor;
 
-  private static CollectingSubsystem instance;
+  private static IntakeSubsystem instance;
 
-    public static CollectingSubsystem getInstance() {
+    public static IntakeSubsystem getInstance() {
       if (instance == null) {
-        instance = new CollectingSubsystem();
+        instance = new IntakeSubsystem();
       }
       return instance;
     }
 
-  /** Creates a new CollectingSubsystem. */
-  public CollectingSubsystem() {
-    this.m_collecting = new TalonSRX(CollectingMotorID);
+  /** Creates a new IntakeSubsystem. */
+  private IntakeSubsystem() {
+    this.m_Intake = new TalonSRX(IntakeMotorID);
     this.lazerSensor = new DigitalInput(SwitchID);
   }
 
   public void setSpeed(double speed){
-    m_collecting.set(ControlMode.PercentOutput, speed);
+    m_Intake.set(ControlMode.PercentOutput, speed);
   }
 
   public boolean getSwitch(){

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

@@ -0,0 +1,56 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import static frc.robot.Constants.TrapArmConstants.*;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class TrapArmSubsystem extends SubsystemBase {
+  private TalonSRX m_TrapMotor;
+  DigitalInput innerSwitch;
+  DigitalInput outerSwitch;
+
+  private static TrapArmSubsystem instance;
+
+  public static TrapArmSubsystem getInstance() {
+    if (instance == null) {
+      instance = new TrapArmSubsystem();
+    }
+    return instance;
+  }
+
+  /** Creates a new TrapArmSubsystem. */
+  private TrapArmSubsystem() {
+    this.m_TrapMotor = new TalonSRX(ArmMotorID);
+    this.innerSwitch = new DigitalInput(InnerSwitchID);
+    this.outerSwitch = new DigitalInput(OuterSwitchID);
+  }
+
+
+  public void setSpeed(double speed){
+    m_TrapMotor.set(ControlMode.PercentOutput,speed);
+  }
+
+
+  public boolean getInnerSwitch(){
+    return innerSwitch.get();
+  }
+
+
+  public boolean getOuterSwitch(){
+    return outerSwitch.get();
+  }
+
+
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}