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Removed the intake subsystem's DigitalInput #62

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Removed the intake subsystem's DigitalInput #62

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20 changes: 10 additions & 10 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -103,10 +103,11 @@ public RobotContainer() {
// rollerSubsystem = new RollerSubsystem(RollerSubsystem.createRealIo());
// tiltSubsystem = new TiltSubsystem(TiltSubsystem.createRealIo());
anglerSubsystem = new AnglerSubsystem(AnglerSubsystem.createRealIo());
intakeDeployer = new IntakeDeployerSubsystem(IntakeDeployerSubsystem.createRealIo());
intakeSubsystem = new IntakeSubsystem(IntakeSubsystem.createRealIo(),
IntakeSubsystem.createRealDeploymentSwitch());
intakeDeployer);
hopperSubsystem = new HopperSubsystem(HopperSubsystem.createRealIo());
intakeDeployer = new IntakeDeployerSubsystem(IntakeDeployerSubsystem.createRealIo());


climberSubsystem = new ClimberSubsystem(ClimberSubsystem.createRealIo());
feederSubsystem = new FeederSubsystem(FeederSubsystem.createRealIo());
Expand All @@ -124,14 +125,15 @@ public RobotContainer() {
// rollerSubsystem = new RollerSubsystem(RollerSubsystem.createMockIo());
// tiltSubsystem = new TiltSubsystem(TiltSubsystem.createMockIo());
anglerSubsystem = new AnglerSubsystem(AnglerSubsystem.createMockIo());
intakeDeployer = new IntakeDeployerSubsystem(IntakeDeployerSubsystem.createMockIo());
intakeSubsystem = new IntakeSubsystem(IntakeSubsystem.createMockIo(),
IntakeSubsystem.createMockDeploymentSwitch());
intakeDeployer);
hopperSubsystem = new HopperSubsystem(HopperSubsystem.createMockIo());
climberSubsystem = new ClimberSubsystem(ClimberSubsystem.createMockIo());
feederSubsystem = new FeederSubsystem(FeederSubsystem.createMockIo());
apriltagSubsystem = new ApriltagSubsystem(ApriltagSubsystem.createMockIo());
shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createMockIo());
intakeDeployer = new IntakeDeployerSubsystem(IntakeDeployerSubsystem.createMockIo());

// No GyroSubsystem in REPLAY for now
// create the drive subsystem with null gyro (use default json)
drivebase = !Constants.TESTBED ? new SwerveSubsystem(
Expand All @@ -144,14 +146,15 @@ public RobotContainer() {
// tiltSubsystem = new
// TiltSubsystem(TiltSubsystem.createSimIo(robotVisualizer));
anglerSubsystem = new AnglerSubsystem(AnglerSubsystem.createSimIo(robotVisualizer));
intakeDeployer = new IntakeDeployerSubsystem(IntakeDeployerSubsystem.createSimIo(robotVisualizer));
intakeSubsystem = new IntakeSubsystem(IntakeSubsystem.createSimIo(robotVisualizer),
IntakeSubsystem.createSimDeploymentSwitch());
intakeDeployer);
hopperSubsystem = new HopperSubsystem(HopperSubsystem.createSimIo(robotVisualizer));
climberSubsystem = new ClimberSubsystem(ClimberSubsystem.createSimIo(robotVisualizer));
feederSubsystem = new FeederSubsystem(FeederSubsystem.createSimIo(robotVisualizer));
apriltagSubsystem = new ApriltagSubsystem(ApriltagSubsystem.createSimIo());
shooterSubsystem = new ShooterSubsystem(ShooterSubsystem.createSimIo(robotVisualizer));
intakeDeployer = new IntakeDeployerSubsystem(IntakeDeployerSubsystem.createSimIo(robotVisualizer));


// No GyroSubsystem in REPLAY for now
// create the drive subsystem with null gyro (use default json)
Expand Down Expand Up @@ -295,7 +298,7 @@ public void putShuffleboardCommands() {

SmartDashboard.putData(
"Spin Intake",
new SpinIntake(intakeSubsystem));
new SpinIntake(intakeSubsystem, intakeDeployer));

SmartDashboard.putData(
"Start Hopper",
Expand All @@ -304,9 +307,6 @@ public void putShuffleboardCommands() {
SmartDashboard.putData(
"Spin Feeder",
new SpinFeeder(feederSubsystem));
SmartDashboard.putData(
"Spin Intake",
new SpinIntake(intakeSubsystem));

SmartDashboard.putData(
"Start Hopper",
Expand Down
8 changes: 6 additions & 2 deletions src/main/java/frc/robot/commands/intake/SpinIntake.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,16 +3,20 @@
import javax.lang.model.util.ElementScanner14;

import frc.robot.constants.Constants;
import frc.robot.constants.enums.DeploymentState;
import frc.robot.subsystems.IntakeDeployerSubsystem;
import frc.robot.subsystems.IntakeSubsystem;
import frc.robot.utils.logging.commands.LoggableCommand;

public class SpinIntake extends LoggableCommand {

private final IntakeSubsystem subsystem;
private final IntakeDeployerSubsystem deployer;

public SpinIntake(IntakeSubsystem subsystem) {
public SpinIntake(IntakeSubsystem subsystem, IntakeDeployerSubsystem deployer) {
this.subsystem = subsystem;
addRequirements(subsystem);
this.deployer = deployer;
}

@Override
Expand All @@ -21,7 +25,7 @@ public void initialize() {

@Override
public void execute() {
if (subsystem.isDeployed()) {
if (deployer.deploymentState == DeploymentState.DOWN) {
subsystem.setSpeed(Constants.INTAKE_SPEED);
} else {
subsystem.setSpeed(0);
Expand Down
46 changes: 4 additions & 42 deletions src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,18 +7,12 @@
import com.revrobotics.spark.config.SparkBaseConfig;
import com.revrobotics.spark.config.SparkMaxConfig;

import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.commands.intake.SpinIntake;
import frc.robot.constants.Constants;
import frc.robot.utils.logging.input.DigitalInputLoggableInputs;
import frc.robot.utils.logging.input.MotorLoggableInputs;
import frc.robot.utils.logging.io.motor.DigitalInputIo;
import frc.robot.utils.logging.io.motor.MockDigitalInputIo;
import frc.robot.utils.logging.io.motor.MockSparkMaxIo;
import frc.robot.utils.logging.io.motor.RealDigitalInputIo;
import frc.robot.utils.logging.io.motor.RealSparkMaxIo;
import frc.robot.utils.logging.io.motor.SimDigitalInputIo;
import frc.robot.utils.logging.io.motor.SimSparkMaxIo;
import frc.robot.utils.logging.io.motor.SparkMaxIo;
import frc.robot.utils.simulation.MotorSimulator;
Expand All @@ -28,12 +22,12 @@ public class IntakeSubsystem extends SubsystemBase {

public static final String LOGGING_NAME = "IntakeSubsystem";
private final SparkMaxIo io;
private final DigitalInputIo intakeDeploymentSwitch;
private final IntakeDeployerSubsystem deployer;

public IntakeSubsystem(SparkMaxIo io, DigitalInputIo intakeDeploymentSwitch) {
public IntakeSubsystem(SparkMaxIo io, IntakeDeployerSubsystem deployer) {
this.io = io;
this.intakeDeploymentSwitch = intakeDeploymentSwitch;
setDefaultCommand(new SpinIntake(this));
this.deployer = deployer;
setDefaultCommand(new SpinIntake(this, deployer));
}

public void setSpeed(double speed) {
Expand All @@ -47,11 +41,6 @@ public void stopMotors() {
@Override
public void periodic() {
io.periodic();
intakeDeploymentSwitch.periodic();
}

public boolean isDeployed() {
return intakeDeploymentSwitch.isPressed();
}

public static SparkMaxIo createMockIo() {
Expand All @@ -66,30 +55,6 @@ public static SparkMaxIo createSimIo(RobotVisualizer visualizer) {
new MotorSimulator(motor, visualizer.getIntakeLigament()));
}

public static DigitalInputIo createMockDeploymentSwitch() {
return new MockDigitalInputIo(
LOGGING_NAME + "/DeploymentSwitch",
new DigitalInputLoggableInputs()
);
}

public static DigitalInputIo createRealDeploymentSwitch() {
return new RealDigitalInputIo(
LOGGING_NAME + "/DeploymentSwitch",
new DigitalInput(Constants.INTAKE_DIGITAL_INPUT_CHANNEL),
new DigitalInputLoggableInputs()
);

}

public static DigitalInputIo createSimDeploymentSwitch() {
return new SimDigitalInputIo(
LOGGING_NAME + "/DeploymentSwitch",
new DigitalInput(Constants.INTAKE_DIGITAL_INPUT_CHANNEL),
new DigitalInputLoggableInputs()
);
}

private static SparkMax createMotor() {
SparkMax motor = new SparkMax(Constants.INTAKE_MOTOR_ID, SparkLowLevel.MotorType.kBrushless);
SparkMaxConfig motorConfig = new SparkMaxConfig();
Expand All @@ -102,7 +67,4 @@ private static SparkMax createMotor() {
return motor;
}

public DigitalInputIo getDeploymentSwitchIo() {
return intakeDeploymentSwitch;
}
}
2 changes: 0 additions & 2 deletions src/main/java/frc/robot/subsystems/RollerSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,6 @@
import frc.robot.utils.simulation.MotorSimulator;
import frc.robot.utils.simulation.RobotVisualizer;

// The Roller subsystem spins the wheel that releases the algae.

public class RollerSubsystem extends SubsystemBase {
public static final String LOGGING_NAME = "RollerSubsystem";
private final SparkMaxIo io;
Expand Down
2 changes: 0 additions & 2 deletions src/main/java/frc/robot/subsystems/TiltSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,6 @@
import frc.robot.utils.simulation.ArmSimulator;
import frc.robot.utils.simulation.RobotVisualizer;

// The Tilt subsystem extends and retracts the Algae-Go-Bye-Bye mechanism.

public class TiltSubsystem extends SubsystemBase {
public static final String LOGGING_NAME = "TiltSubsystem";
private final SparkMaxIo io;
Expand Down