TrapArm

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

@@ -310,4 +310,10 @@ public static class FeederConstants{
     public static final double FeederMotorSpeed = 0.8;
 
   }
+    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/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/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
+  }
+}