First pass at climber subsystem #32
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| //not sure about these implementations, some issues with "static reference to non-static method" | ||
| public Command climbUp() { | ||
| return this.run( | ||
| () -> { | ||
| ClimberIO.setClimberPosition(MAX_ANGLE); | ||
| }); | ||
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so a static method/variable is a method/variable that is shared across all instances of an object. so for example if we have multiple rollerio objects but store a static variable in the rollerio class, all of those rollers would be able to access it. we denote a call to something static by using the class name instead of a local variable name, which is what you've done here by capitalizing Climber
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however, setClimberPosition isn't actually marked as a static method so it gets mad when it thinks you're trying to call something statically (by using the class name) when it isn't static
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better explanation here: https://www.baeldung.com/java-static (sections 1-3 and 6)
| ClimberIO climberIO; | ||
| ClimberIOInputsAutoLogged climberInputs = new ClimberIOInputsAutoLogged(); | ||
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| public ClimberSubsystem() {} |
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| //member variables here? | ||
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| public ClimberSubsystem(ClimberIO climberIO) { |
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remember to create the climbersubsystem in Robot.java (L263)
src/main/java/frc/robot/Robot.java
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| intake = new LintakeSubsystem(); | ||
| shooter = new TurretSubsystem(); | ||
| climber = new ClimberSubsystem(); // TODO climber | ||
| climber = new ClimberSubsystem(); |
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make sure to pass a climber io into this constructor as well
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| @AutoLog | ||
| public static class ClimberIOInputs { | ||
| public double climberPosition = 0.0; |
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| public double climberPosition = 0.0; | |
| public double motorPositionRotations = 0.0; |
you named it motorPositionRotations elsewhere
| private Notifier simNotifier = null; | ||
| private double lastSimTime = 0.0; | ||
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| public HoodIOSim(CANBus canbus) { |
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| public HoodIOSim(CANBus canbus) { | |
| public ClimberIOSim(CANBus canbus) { |
it gets mad at you when you try to create a class that doesn't match the file name
| return this.run( | ||
| () -> { | ||
| climberIO.setClimberPosition(MAX_EXTENSION_METERS); | ||
| wait(1000); |
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so waiting like this is a bit dangerous because it pauses all the code running in this thread (which is pretty much everything). i think what i'd do is just make extend and retract commands which set it to max position and min position respectively - we will handle figuring out which position it goes to and when through triggers elsewhere in the superstructure
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also be sure to run a build sometime soon so the formatter runs |
src/main/java/frc/robot/Robot.java
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| // null (and we need it to be not null) | ||
| if (climber == null) | ||
| climber = new ClimberSubsystem(); // TODO new ClimberSubsystem(new ClimberIO() {}) and such | ||
| // climber = new EmptyClimberSubsystem(new ClimberIO(canivore) {}); |
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| // climber = new EmptyClimberSubsystem(new ClimberIO(canivore) {}); | |
| climber = new EmptyClimberSubsystem(canivore); |
| super(new ClimberIO(canbus)); | ||
| } | ||
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| public Command climbUp() { |
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| public Command climbUp() { | |
| @Override | |
| public Command extendClimber() { |
make sure this method has the same name as the method in ClimberSubsystem, and that there's the @OverRide annotation above it. this makes sure that when we call extendClimber on an EmptyClimberSubsystem, it does it the EmptyClimberSubsystem's way and not the default ClimberSubsystem's way
| return this.idle(); | ||
| } | ||
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| public Command climbDown() { |
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| public Command climbDown() { | |
| @Override | |
| public Command retractClimber() { |
src/main/java/frc/robot/Robot.java
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add something here that binds it to a button - so like driver.x().onTrue(extend climber) and driver.y.onTrue(retract). this might change later but we can just do this for testing
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i'll handle the merge for you |
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