addressed github comments

added intake sensors to shuffleboard, removed intake back sensor, changed motor configuration and stopped continuous rumbling
robototes · Mar 17, 2024 · 4eef46e · 4eef46e
1 parent afd24bf
commit 4eef46e
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Showing 3 changed files with 29 additions and 29 deletions.
diff --git a/src/main/java/frc/team2412/robot/Subsystems.java b/src/main/java/frc/team2412/robot/Subsystems.java
@@ -14,8 +14,8 @@ public static class SubsystemConstants {
 		private static final boolean IS_COMP = Robot.getInstance().isCompetition();
 
 		public static final boolean APRILTAGS_ENABLED = true;
-		public static final boolean LIMELIGHT_ENABLED = true;
-		public static final boolean CLIMB_ENABLED = true;
+		public static final boolean LIMELIGHT_ENABLED = false;
+		public static final boolean CLIMB_ENABLED = false;
 		public static final boolean LAUNCHER_ENABLED = true;
 		public static final boolean INTAKE_ENABLED = true;
 		public static final boolean DRIVEBASE_ENABLED = true;

diff --git a/src/main/java/frc/team2412/robot/commands/intake/AllInCommand.java b/src/main/java/frc/team2412/robot/commands/intake/AllInCommand.java
@@ -9,6 +9,10 @@
 public class AllInCommand extends Command {
 	private final IntakeSubsystem intakeSubsystem;
 	private final Controls controls;
+	private boolean rumbledIntakeFront = false;
+	private boolean rumbledIntakeLeft = false;
+	private boolean rumbledIntakeRight = false;
+	private boolean rumbledIndex = false;
 
 	public AllInCommand(IntakeSubsystem intakeSubsystem, Controls controls) {
 		this.intakeSubsystem = intakeSubsystem;
@@ -37,27 +41,14 @@ public void execute() {
 				intakeSubsystem.intakeRightStop();
 			}
 
-			if (controls != null) {
-				Commands.race(new RumbleCommand(controls), new WaitCommand(1)).schedule();
-			}
-		}
-
-		if (intakeSubsystem.intakeBackSeesNote()) {
-			if (!intakeSubsystem.getRejectOverride()) {
-				intakeSubsystem.intakeFrontReject();
-				intakeSubsystem.intakeLeftReject();
-				intakeSubsystem.intakeRightReject();
-			} else {
-				intakeSubsystem.intakeFrontStop();
-				intakeSubsystem.intakeLeftStop();
-				intakeSubsystem.intakeRightStop();
-			}
-
-			if (controls != null) {
+			if (controls != null && !rumbledIntakeFront) {
 				Commands.race(new RumbleCommand(controls), new WaitCommand(2)).schedule();
+				rumbledIntakeFront = true;
 			}
 		}
 
+		// back intake sensor does not exist ._.
+
 		if (intakeSubsystem.intakeLeftSeesNote()) {
 			if (!intakeSubsystem.getRejectOverride()) {
 				intakeSubsystem.intakeFrontReject();
@@ -69,8 +60,9 @@ public void execute() {
 				intakeSubsystem.intakeRightStop();
 			}
 
-			if (controls != null) {
+			if (controls != null && !rumbledIntakeLeft) {
 				Commands.race(new RumbleCommand(controls), new WaitCommand(2)).schedule();
+				rumbledIntakeLeft = true;
 			}
 		}
 
@@ -85,8 +77,9 @@ public void execute() {
 				intakeSubsystem.intakeLeftStop();
 			}
 
-			if (controls != null) {
+			if (controls != null && !rumbledIntakeRight) {
 				Commands.race(new RumbleCommand(controls), new WaitCommand(2)).schedule();
+				rumbledIntakeRight = true;
 			}
 		}
 
@@ -98,8 +91,9 @@ public void execute() {
 				intakeSubsystem.intakeStop();
 			}
 
-			if (controls != null) {
+			if (controls != null && !rumbledIndex) {
 				Commands.race(new RumbleCommand(controls), new WaitCommand(3)).schedule();
+				rumbledIndex = true;
 			}
 		}
 	}
@@ -111,6 +105,7 @@ public void end(boolean interrupted) {
 		} else {
 			intakeSubsystem.intakeStop();
 		}
+
 		intakeSubsystem.indexStop();
 		intakeSubsystem.feederStop();
 

diff --git a/src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/team2412/robot/subsystems/IntakeSubsystem.java
@@ -49,7 +49,7 @@ public class IntakeSubsystem extends SubsystemBase {
 	private final DigitalInput feederSensor;
 
 	private final SparkLimitSwitch intakeFrontSensor;
-	private final SparkLimitSwitch intakeBackSensor;
+	// private final SparkLimitSwitch intakeBackSensor;
 	private final SparkLimitSwitch intakeLeftSensor;
 	private final SparkLimitSwitch intakeRightSensor;
 
@@ -156,16 +156,25 @@ public IntakeSubsystem() {
 		feederSensor = new DigitalInput(FEEDER_SENSOR);
 
 		intakeFrontSensor = intakeMotorFront.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
-		intakeBackSensor = intakeMotorBack.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
+		// intakeBackSensor =
+		// intakeMotorBack.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
 		intakeLeftSensor = intakeMotorLeft.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
 		intakeRightSensor = intakeMotorRight.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
 
+		intakeFrontSensor.enableLimitSwitch(false);
+		intakeLeftSensor.enableLimitSwitch(false);
+		intakeRightSensor.enableLimitSwitch(false);
+
 		resetMotors();
 
+		// show if sensors have notes in shuffleboard
 		ShuffleboardTab shuffleboardTab = Shuffleboard.getTab("Intake");
 		shuffleboardTab.addBoolean("Index Sensor - ", this::indexSensorHasNote).withSize(1, 1);
 		shuffleboardTab.addBoolean("Feeder Sensor - ", this::feederSensorHasNote).withSize(1, 1);
-		shuffleboardTab.addBoolean("Intake Sensor - ", this::intakeBackSeesNote).withSize(1, 1);
+		// intake back sensor
+		shuffleboardTab.addBoolean("Intake Front Sensor - ", this::intakeFrontSeesNote).withSize(1, 1);
+		shuffleboardTab.addBoolean("Intake Left Sensor - ", this::intakeLeftSeesNote).withSize(1, 1);
+		shuffleboardTab.addBoolean("Intake Right Sensor - ", this::intakeRightSeesNote).withSize(1, 1);
 	}
 
 	private void configureMotor(CANSparkBase motor, int currentLimit, boolean invert) {
@@ -296,10 +305,6 @@ public boolean intakeFrontSeesNote() {
 		return intakeFrontSensor.isPressed();
 	}
 
-	public boolean intakeBackSeesNote() {
-		return intakeBackSensor.isPressed();
-	}
-
 	public boolean intakeLeftSeesNote() {
 		return intakeLeftSensor.isPressed();
 	}