updated OI with old talons

Author: marc-afk

FRC2020/.gradle/6.0.1/javaCompile/taskHistory.bin

@@ -1,8 +1,5 @@
 package frc.robot;
 
-// import edu.wpi.first.wpilibj.CameraServer;
-// import edu.wpi.first.wpilibj.DriverStation;
-// import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.Relay;
 import edu.wpi.first.wpilibj.TimedRobot;
@@ -36,6 +33,7 @@ public class Robot extends TimedRobot {
 	public final Color kRedTarget = ColorMatch.makeColor(0.561, 0.232, 0.114);
 	public final Color kYellowTarget = ColorMatch.makeColor(0.361, 0.524, 0.113);
 	public Harvester harvester = new Harvester();
+	int shooterCycle = 0;
 
 	@Override
 	public void robotInit() {
@@ -99,12 +97,21 @@ public void robotPeriodic() {
 			colorString = "Unknown";
 		}
 
-		if (OI.shoot() == true) {
+		if ((shooterCycle == 0) == false) {
+			shooterCycle = shooterCycle + 1;
+		} else if (OI.shoot() == true) {
 			Shooter.shooterShoot(OI.valueShooterSpeed);
-		} else if (OI.shoot() == false) {
+			shooterCycle = 1;
+		} else {
 			Shooter.shooterStop();
 		}
 
+		if (shooterCycle == 10) {
+			Shooter.initiateShot();
+		} else if (shooterCycle == 20) {
+			shooterCycle = 0;
+		}
+
 		if (OI.changeShooterSpeed() == 1) {
 			if (OI.valueShooterSpeed < 1) {
 				OI.valueShooterSpeed = OI.valueShooterSpeed + 0.02;
@@ -141,25 +148,6 @@ public void robotPeriodic() {
 
 	@Override
 	public void teleopPeriodic() {
-		/*
-		 * // Left trigger pressed, end OI commands and start tape script if
-		 * (leftstick.getTriggerPressed() && toggle == false) {
-		 * RobotMap.GreenLED.set(Relay.Value.kForward);
-		 * Scheduler.getInstance().removeAll();
-		 * Scheduler.getInstance().add(newautonomous(1)); toggle = true; }
-		 * 
-		 * // Right trigger pressed, end OI commands and start ball script if
-		 * (rightstick.getTriggerPressed() && toggle == false) {
-		 * Scheduler.getInstance().removeAll();
-		 * Scheduler.getInstance().add(newautonomous(2)); toggle = true; }
-		 * 
-		 * // Both triggers released, end autoomous scripts and start OI scripts if
-		 * (leftstick.getTriggerReleased() && rightstick.getTriggerReleased() &&
-		 * toggle){ DriverStation.reportError("TRIGGER", false);
-		 * RobotMap.GreenLED.set(Relay.Value.kReverse);
-		 * Scheduler.getInstance().add(newautonomous(0)); OICommands(); toggle = false;
-		 * }
-		 */
 		Scheduler.getInstance().run();
 
 	}

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

@@ -3,7 +3,6 @@
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.Relay;
-import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Talon;
@@ -20,16 +19,13 @@ public class RobotMap {
 	public static WPI_TalonSRX Shooter = new WPI_TalonSRX(5);
 	public static WPI_TalonSRX Harvester = new WPI_TalonSRX(6);
 
-	// Spark/Spike motors setup
-	public static Spark Conveyor = new Spark(1);
-	public static Spark Spinner = new Spark(2);
-	public static Spark Gatherer = new Spark(3);
-	public static Spark Flap = new Spark(4);
+	// TalonSR motors setup
+	public static Talon Conveyor = new Talon(1);
+	public static Talon Spinner = new Talon(2);
+	public static Talon Gatherer = new Talon(3);
+	public static Talon Flap = new Talon(4);
 
-	// Talon SR Speed Controller (used as Spark)
-	public static Talon talon = new Talon(0); //What's the channel?
-
-	//Digital Input setup
+	// Digital Input setup
 	public static DigitalInput topLimitSwitch = new DigitalInput(0);
 
 	// Joysticks/Controllers setup
@@ -44,5 +40,4 @@ public class RobotMap {
 
 	// Relay
 	public static Relay GreenLED = new Relay(3);
-
 }

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

@@ -17,5 +17,11 @@ public static void shooterShoot(double speed) {
     public static void shooterStop() {
         RobotMap.Conveyor.set(0);
         RobotMap.Shooter.set(0);
+        RobotMap.Flap.set(0);
+    }
+
+    public static void initiateShot(){
+        RobotMap.Conveyor.set(1);
+        RobotMap.Flap.set(1);
     }
 }