Yash.claw

src/main/java/org/wildstang/year2023/robot/CANConstants.java

@@ -30,6 +30,8 @@ public final class CANConstants {
     public static final int ANGLE3 = 16;
     public static final int DRIVE4 = 17;
     public static final int ANGLE4 = 18;
+    public static final int EVERYBOT1 = 0;
+    public static final int EBOT2 = 0;
 
 
 }

src/main/java/org/wildstang/year2023/robot/WSOutputs.java

@@ -41,6 +41,8 @@ public enum WSOutputs implements Outputs {
     ANGLE3("Module 3 Angle Motor", new WsSparkMaxConfig(CANConstants.ANGLE3, true)),
     DRIVE4("Module 4 Drive Motor", new WsSparkMaxConfig(CANConstants.DRIVE4, true)),
     ANGLE4("Module 4 Angle Motor", new WsSparkMaxConfig(CANConstants.ANGLE4, true)),
+    EVERYBOT1("Module 4 Angle Motor", new WsSparkMaxConfig(CANConstants.EVERYBOT1, true)),
+    EBOT2("Module 4 Angle Motor", new WsSparkMaxConfig(CANConstants.EBOT2, true)),
 
 
     // ---------------------------------

src/main/java/org/wildstang/year2023/robot/WSSubsystems.java

@@ -1,6 +1,7 @@
 package org.wildstang.year2023.robot;
 
 import org.wildstang.framework.core.Subsystems;
+import org.wildstang.year2023.subsystems.Claw;
 import org.wildstang.year2023.subsystems.SampleSubsystem;
 import org.wildstang.year2023.subsystems.swerve.SwerveDrive;
 import org.wildstang.year2023.subsystems.targeting.AimHelper;
@@ -13,6 +14,7 @@ public enum WSSubsystems implements Subsystems {
 
     // enumerate subsystems
     SWERVE_DRIVE("Swerve Drive", SwerveDrive.class),
+    CLAW("Claw", Claw.class),
     //AIM_HELPER("Aim Helper", AimHelper.class),
     //SAMPLE("Sample", SampleSubsystem.class)
     ;

src/main/java/org/wildstang/year2023/subsystems/ArmEverybot.java

@@ -0,0 +1,121 @@
+package org.wildstang.year2023.subsystems;
+
+import org.apache.commons.math3.ml.neuralnet.twod.NeuronSquareMesh2D.VerticalDirection;
+import org.wildstang.framework.io.inputs.Input;
+import org.wildstang.framework.subsystems.Subsystem;
+import org.wildstang.hardware.roborio.inputs.WsDPadButton;
+import org.wildstang.hardware.roborio.inputs.WsJoystickAxis;
+import org.wildstang.hardware.roborio.outputs.WsSparkMax;
+import org.wildstang.year2023.robot.WSAutoPrograms;
+import org.wildstang.year2023.robot.WSInputs;
+import org.wildstang.year2023.robot.WSOutputs;
+
+public class ArmEverybot implements Subsystem 
+{
+    WsSparkMax m1;
+    WsSparkMax m2;
+    WsJoystickAxis lefttrigger;
+    WsJoystickAxis righttrigger;
+    WsDPadButton dPadButton1;
+    WsDPadButton dPadButton2;
+    double mSpeed;
+    double mSpeed2;
+
+
+    @Override
+    public void inputUpdate(Input sourceInput) {
+        if (sourceInput == lefttrigger || sourceInput == righttrigger){
+            if (sourceInput == lefttrigger) {
+                if (Math.abs(lefttrigger.getValue()) > 0.3){
+                    mSpeed = -0.8;
+                }
+                else {
+                    mSpeed = 0;
+                }
+            }
+            else if (sourceInput == righttrigger)
+{
+                if (Math.abs(righttrigger.getValue()) > 0.3){
+                    mSpeed = 0.8;
+                }
+                else {
+                    mSpeed = 0;
+                };
+            if (sourceInput == dPadButton1){
+                if (dPadButton1.getValue()){
+                    mSpeed2 = 0.8;
+                }
+                if (sourceInput == dPadButton2){
+                    if (dPadButton2.getValue()){
+                        mSpeed2 = 0.8;
+                    }
+                }                    
+            }
+            else {
+
+            }
+
+            }
+        }
+}        // TODO Auto-generated method stub
+
+
+
+    @Override
+    public void init() {
+        // TODO Auto-generated method stub
+        lefttrigger = (WsJoystickAxis) WSInputs.MANIPULATOR_LEFT_JOYSTICK_BUTTON.get();
+        righttrigger = (WsJoystickAxis) WSInputs.MANIPULATOR_RIGHT_JOYSTICK_BUTTON.get();
+        lefttrigger.addInputListener(this);
+        righttrigger.addInputListener(this);
+        m1 = (WsSparkMax) WSOutputs.TEST_MOTOR.get();
+        m2 = (WsSparkMax) WSOutputs.TEST_MOTOR2.get();
+        mSpeed = 0;
+        dPadButton1 = (WsDPadButton) WSInputs.MANIPULATOR_DPAD_UP.get();
+        dPadButton2 = (WsDPadButton) WSInputs.MANIPULATOR_DPAD_DOWN.get();
+        dPadButton1.addInputListener(this);
+        dPadButton2.addInputListener(this);
+        mSpeed2 = 0;
+        }
+
+        @Override
+        public void selfTest() {
+            // TODO Auto-generated method stub
+
+        };
+    @Override
+    public void update() {
+        // TODO Auto-generated method stub
+        m1.setValue(mSpeed);
+        if (mSpeed == 0){
+            m1.setBrake();
+        }
+        else {
+            m1.setCoast();
+        }
+        m2.setValue(mSpeed2);
+        if (mSpeed2 == 0) {
+            m2.setBrake();
+        }
+        else {
+            m2.setCoast();
+        }
+    };
+
+
+    @Override
+    public void resetState() {
+        // TODO Auto-generated method stub
+
+    }
+
+    @Override
+    public String getName() {
+        // TODO Auto-generated method stub
+        return null;
+    };
+    //The controls would be LT to intake cargo, RT to score cargo, LB to intake 
+
+    //cones, RB to score cones, and Dpad up and down to raise and lower the arm
+}
+

src/main/java/org/wildstang/year2023/subsystems/Claw.java

@@ -0,0 +1,61 @@
+package org.wildstang.year2023.subsystems;
+import org.wildstang.framework.io.inputs.Input;
+import org.wildstang.framework.subsystems.Subsystem;
+import org.wildstang.hardware.roborio.inputs.WsJoystickAxis;
+import org.wildstang.hardware.roborio.outputs.WsSparkMax;
+import org.wildstang.year2023.robot.WSInputs;
+import org.wildstang.year2023.robot.WSOutputs;
+
+public class Claw implements Subsystem
+{
+   WsSparkMax motor;
+   WsJoystickAxis forwardButton;
+   WsJoystickAxis reverseButton;
+   double motorSpeed;   
+
+
+    @Override
+    public void init(){
+        forwardButton = (WsJoystickAxis) WSInputs.MANIPULATOR_LEFT_TRIGGER.get();
+        reverseButton = (WsJoystickAxis) WSInputs.MANIPULATOR_RIGHT_TRIGGER.get(); 
+        forwardButton.addInputListener(this);
+        reverseButton.addInputListener(this);
+        motor = (WsSparkMax) WSOutputs.TEST_MOTOR.get();
+        motorSpeed = 0;
+    };
+    @Override
+    public void resetState(){};
+    @Override
+    public void update(){
+        motor.setValue(motorSpeed);
+        if (motorSpeed == 0){
+            motor.setBrake();
+        }
+        else {
+            motor.setCoast();
+        }  
+    };
+    @Override
+    public void inputUpdate(Input sourceInput){
+        if (sourceInput == forwardButton){
+            if (Math.abs(forwardButton.getValue())> 0.3){
+                motorSpeed = 0.8;
+            }
+            else {
+                motorSpeed = 0;
+            }
+        }
+        else if (sourceInput == reverseButton){
+            if (Math.abs(reverseButton.getValue()) < 0.3){
+                motorSpeed = -0.8;
+            }
+            else {
+                motorSpeed = 0;
+            }
+        }         
+    }
+    @Override
+    public void selfTest(){};
+    @Override
+    public String getName(){return "Claw";};
+}

src/main/java/org/wildstang/year2023/subsystems/TankDriveEverybot.java

@@ -0,0 +1,84 @@
+package org.wildstang.year2023.subsystems;
+import org.wildstang.framework.io.inputs.Input;
+import org.wildstang.framework.subsystems.Subsystem;
+import org.wildstang.hardware.roborio.inputs.WsJoystickAxis;
+import org.wildstang.hardware.roborio.outputs.WsSparkMax;
+import org.wildstang.year2023.robot.WSInputs;
+import org.wildstang.year2023.robot.WSOutputs;
+
+public class TankDriveEverybot implements Subsystem
+{
+    WsSparkMax motor;
+    WsSparkMax motor2;
+    WsJoystickAxis forwardTrigger;
+    WsJoystickAxis backTrigger;
+    double motorSpeed;
+    @Override
+    public void inputUpdate(Input sourceInput) {
+        // TODO Auto-generated method stub
+       if (sourceInput == forwardTrigger || sourceInput == backTrigger){
+        if (sourceInput == forwardTrigger){
+            if (Math.abs(forwardTrigger.getValue()) > 0.2){
+            motorSpeed = 0.8;
+         }
+            else {
+            motorSpeed = 0;
+          }} 
+
+        else if (sourceInput == backTrigger){
+            if (Math.abs(backTrigger.getValue()) > 0.2){
+                motorSpeed = -0.8;
+            }
+            else {
+                motorSpeed = 0;
+            }
+        }
+    }
+    }
+    @Override
+    public void init() {
+        // TODO Auto-generated method stub
+        forwardTrigger = (WsJoystickAxis) WSInputs.MANIPULATOR_RIGHT_TRIGGER.get();
+        backTrigger = (WsJoystickAxis) WSInputs.MANIPULATOR_LEFT_TRIGGER.get();
+        forwardTrigger.addInputListener(this);
+        backTrigger.addInputListener(this);
+        motor = (WsSparkMax) WSOutputs.TEST_MOTOR.get();
+        motor2 = (WsSparkMax) WSOutputs.TEST_MOTOR2.get();
+        motorSpeed = 0;
+    }
+    @Override
+    public void selfTest() {
+        // TODO Auto-generated method stub
+
+    }
+    @Override
+    public void update() {
+        // TODO Auto-generated method stub
+        motor.setValue(motorSpeed);
+         if (motorSpeed == motor.getValue() || motorSpeed == motor2.getValue()){
+            if (motorSpeed == 0){
+                motor.setBrake();
+            }
+                else {
+                motor.setCoast();
+            }
+            if (motorSpeed == 0){
+                motor2.setBrake();
+            }
+                else {
+                motor.setCoast();
+            }
+        }
+    };
+    @Override
+    public void resetState() {
+        // TODO Auto-generated method stub
+
+    }
+    @Override
+    public String getName() {
+        // TODO Auto-generated method stub
+        return null;
+    }
+
+}