merged winch with some nice lab changes

Author: Robotics

FRC2020/src/main/java/frc/robot/OI.java

@@ -38,9 +38,9 @@ public double getLeftSpeed() {
 		// System.out.println("getleftspeed.getY()=" + leftStick.getY() + "
 		// Math.pow(gety),3)=" + Math.pow(leftStick.getY(), 3));
 		if (leftStick.getY() > 0.01) {
-			return Math.pow(leftStick.getY(), 3) - 0.01;
+			return 0.5 * Math.pow(leftStick.getY(), 3) - 0.01;
 		} else if (leftStick.getY() <= -0.01) {
-			return Math.pow(leftStick.getY(), 3) + 0.01;
+			return 0.5 * Math.pow(leftStick.getY(), 3) + 0.01;
 		} else {
 			return 0.0;
 		}
@@ -50,9 +50,9 @@ public double getRightSpeed() {
 		// System.out.println("getrightspeed.getY()=" + rightStick.getY() +
 		// "Math.pow(rightstickvalue)=" + Math.pow(rightStick.getY(), 3));
 		if (rightStick.getY() > 0.01) {
-			return -1.0 * Math.pow(rightStick.getY(), 3) + 0.01;
+			return 0.5 * -1.0 * Math.pow(rightStick.getY(), 3) + 0.01;
 		} else if (rightStick.getY() < -0.01) {
-			return -1.0 * Math.pow(rightStick.getY(), 3) - 0.01;
+			return 0.5 * -1.0 * Math.pow(rightStick.getY(), 3) - 0.01;
 		} else {
 			return 0.0;
 		}

FRC2020/src/main/java/frc/robot/Robot.java

@@ -12,6 +12,7 @@
 import edu.wpi.first.wpilibj.DriverStation;
 import frc.robot.commands.DriveWithJoysticks;
 import frc.robot.commands.Detector;
+import frc.robot.commands.Shootball;
 import frc.robot.subsystems.DriveTrain;
 import frc.robot.subsystems.Shooter;
 import frc.robot.subsystems.Winch;
@@ -21,14 +22,16 @@
 import com.revrobotics.ColorMatchResult;
 
 public class Robot extends TimedRobot {
+	
 	XboxController xbox = RobotMap.xboxController;
 	Joystick leftstick = RobotMap.leftJoystick;
 	Joystick rightstick = RobotMap.rightJoystick;
 
 	public static DriveTrain driveTrain;
+	public static Shooter shooter;
 	public static OI OI;
 	public static String colorString;
-
+	
 	double shooterVel;
 	boolean Xon = false;
 	boolean GreenLED_ON = false;
@@ -92,6 +95,8 @@ public void teleopInit() {
 		RobotMap.GreenLED.set(Relay.Value.kOn);
 		RobotMap.GreenLED.set(Relay.Value.kReverse);
 
+		Scheduler.getInstance().add(new Shootball());
+
 		// Init OI
 		OICommands();
 	}
@@ -125,6 +130,8 @@ public void robotPeriodic() {
 		SmartDashboard.putNumber("Rotations Completed", ColorCycle.colorCycleValue);
 		SmartDashboard.putNumber("Colors Passed", ColorCycle.colorsPassedValue);
 		SmartDashboard.putNumber("Shooter Velocity", -1 * shooterVel);
+		SmartDashboard.putNumber("Top Limit switch", RobotMap.topLimitSwitch.get() ? 1:0); // converts boolean to int
+		SmartDashboard.putNumber("Bottom Limit Switch", RobotMap.bottomLimitSwitch.get() ? 1:0);
 
 		if (ColorCycle.colorCycleValue == 3) {
 			ColorCycle.colorCycleStop();
@@ -174,21 +181,6 @@ public void teleopPeriodic() {
 			}
 		}
 
-		if (OI.shoot() == true) {
-			for (shooterCycle = 0; shooterCycle < 500; shooterCycle++) {
-				Shooter.initiateShot(OI.valueShooterSpeed);
-				System.out.println("Ramping up shooter");
-				shooterVel = RobotMap.CANCoder.getVelocity();
-				if (shooterCycle >= 100) {
-					Shooter.loadingShot();
-					System.out.println("loading ball for shooting");
-				}
-			}
-		} else {
-			Shooter.shooterStop();
-			shooterVel = RobotMap.CANCoder.getVelocity();
-		}
-
 		if (OI.changeShooterSpeed() == 1) {
 			if (OI.valueShooterSpeed < 1) {
 				OI.valueShooterSpeed = OI.valueShooterSpeed + 0.02;

FRC2020/src/main/java/frc/robot/commands/Shootball.java

@@ -0,0 +1,48 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj.command.Command;
+//import frc.robot.Robot;
+import frc.robot.subsystems.Shooter;
+import frc.robot.OI;
+
+
+public class Shootball extends Command {
+    OI oi = new OI();
+
+    public Shootball() {
+
+    }// divide distance sensor volatge by 0.997
+
+    protected void initialize() {
+
+    }
+
+    protected void execute() {
+
+        if (oi.shoot() == true) {
+            for (int shooterCycle = 0; shooterCycle < 200; shooterCycle++) {
+                Shooter.initiateShot(oi.valueShooterSpeed);
+				System.out.println("Ramping up shooter");
+				//double shooterVel = Shooter.getVelocity();
+				if (shooterCycle >= 100) {
+					Shooter.loadingShot();
+					System.out.println("loading ball for shooting");
+				}
+			}
+		} else {
+			Shooter.shooterStop();
+		}
+        
+    }
+
+    protected boolean isFinished() {
+        return false;
+    }
+
+    protected void end() {
+    }
+    
+    protected void interrupted() {
+        
+    }
+}

FRC2020/src/main/java/frc/robot/subsystems/Shooter.java

@@ -9,6 +9,7 @@ public void initDefaultCommand() {
         // Set the default command for a subsystem here.
     }
 
+
     //starts up shooter motor and lets it speed up
     public static void initiateShot(double speed) {
         RobotMap.Shooter.set(speed);
@@ -23,4 +24,8 @@ public static void loadingShot(){
     public static void shooterStop() {
         RobotMap.Shooter.set(0);
     }
+
+    public static double getVelocity() {
+        return RobotMap.CANCoder.getVelocity();
+    }
 }

FRC2020/src/main/java/frc/robot/subsystems/Winch.java

@@ -12,11 +12,14 @@ public void initDefaultCommand() {
     // winch up
     public static void winchUp() {
         RobotMap.Winch.set(1.0);
+        System.out.println("winchup");
     }
 
     // winch down
     public static void winchDown() {
         RobotMap.Winch.set(-1.0);
+        System.out.println("winchdown");
+  
     }
 
     public static void winchStop() {