Se/algae mech

networktables.json

@@ -0,0 +1 @@
+[]

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

simgui.json

@@ -0,0 +1,44 @@
+{
+  "NTProvider": {
+    "types": {
+      "/FMSInfo": "FMSInfo",
+      "/SmartDashboard/Autonomous": "String Chooser",
+      "/SmartDashboard/algae": "Mechanism2d"
+    },
+    "windows": {
+      "/SmartDashboard/algae": {
+        "window": {
+          "visible": true
+        }
+      }
+    }
+  },
+  "NetworkTables": {
+    "transitory": {
+      "FMSInfo": {
+        "open": true
+      },
+      "LiveWindow": {
+        "open": true
+      },
+      "Shuffleboard": {
+        "open": true
+      },
+      "SmartDashboard": {
+        "algae": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  },
+  "NetworkTables Info": {
+    "Clients": {
+      "open": true
+    },
+    "Server": {
+      "open": true
+    },
+    "visible": true
+  }
+}

src/main/java/com/stuypulse/robot/RobotContainer.java

@@ -5,22 +5,37 @@
 
 package com.stuypulse.robot;
 
+import javax.management.openmbean.OpenType;
+
+// Algae Commands
+import com.stuypulse.robot.commands.algae.AlgaeGroundPickup;
+import com.stuypulse.robot.commands.algae.AlgaeL2;
+import com.stuypulse.robot.commands.algae.AlgaeL3;
+import com.stuypulse.robot.commands.algae.AlgaeProcessorScore;
+import com.stuypulse.robot.commands.algae.AlgaeReefKnockoff;
+import com.stuypulse.robot.commands.algae.AlgaeStopRoller;
+import com.stuypulse.robot.commands.algae.AlgaeStow;
+
 import com.stuypulse.robot.commands.auton.DoNothingAuton;
 import com.stuypulse.robot.constants.Ports;
+import com.stuypulse.robot.subsystems.algae.Algae;
+
 import com.stuypulse.stuylib.input.Gamepad;
 import com.stuypulse.stuylib.input.gamepads.AutoGamepad;
 
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 
+
 public class RobotContainer {
 
     // Gamepads
     public final Gamepad driver = new AutoGamepad(Ports.Gamepad.DRIVER);
     public final Gamepad operator = new AutoGamepad(Ports.Gamepad.OPERATOR);
 
     // Subsystem
+    public final Algae algae = Algae.getInstance();
 
     // Autons
     private static SendableChooser<Command> autonChooser = new SendableChooser<>();
@@ -43,7 +58,37 @@ private void configureDefaultCommands() {}
     /*** BUTTONS ***/
     /***************/
 
-    private void configureButtonBindings() {}
+
+    private void configureButtonBindings() {
+        configureDriverBindings();
+        configureOperatorBindings();
+    }
+
+    private void configureDriverBindings() {}
+
+    private void configureOperatorBindings() {
+
+        operator.getBottomButton()
+            .onTrue(new AlgaeStow());
+
+        operator.getTopButton()
+            .onTrue(new AlgaeGroundPickup());
+
+        operator.getLeftButton()
+            .onTrue(new AlgaeL2());
+
+        operator.getRightButton()
+            .onTrue(new AlgaeL3());
+
+        operator.getLeftBumper()
+            .onTrue(new AlgaeProcessorScore());
+
+        operator.getRightBumper()
+            .onTrue(new AlgaeReefKnockoff());
+
+        operator.getLeftMenuButton()
+            .onTrue(new AlgaeStopRoller());
+    }
 
     /**************/
     /*** AUTONS ***/

src/main/java/com/stuypulse/robot/commands/algae/AlgaeGroundPickup.java

@@ -0,0 +1,15 @@
+package com.stuypulse.robot.commands.algae;
+
+import com.stuypulse.robot.constants.Settings;
+
+public class AlgaeGroundPickup extends AlgaeSetPivot {
+
+    public AlgaeGroundPickup(){
+        super(Settings.Algae.GROUND_PICKUP_ANGLE);
+        algae.acquireUnder();
+    }
+    public void initialize(){
+        super.initialize();
+    }
+
+}

src/main/java/com/stuypulse/robot/commands/algae/AlgaeL2.java

@@ -0,0 +1,15 @@
+package com.stuypulse.robot.commands.algae;
+
+import com.stuypulse.robot.constants.Settings;
+
+public class AlgaeL2 extends AlgaeSetPivot {
+
+    public AlgaeL2(){
+        super(Settings.Algae.L2_ANGLE);
+        algae.acquireUnder();
+    }
+
+    public void initialize(){
+        super.initialize();
+    }
+}

src/main/java/com/stuypulse/robot/commands/algae/AlgaeL3.java

@@ -0,0 +1,15 @@
+package com.stuypulse.robot.commands.algae;
+
+import com.stuypulse.robot.constants.Settings;
+
+public class AlgaeL3 extends AlgaeSetPivot {
+
+    public AlgaeL3(){
+        super(Settings.Algae.L3_ANGLE);
+        algae.acquireOver();
+    }
+
+    public void initialize(){
+        super.initialize();
+    }
+}

src/main/java/com/stuypulse/robot/commands/algae/AlgaeProcessorScore.java

@@ -0,0 +1,18 @@
+package com.stuypulse.robot.commands.algae;
+
+import com.stuypulse.robot.constants.Settings;
+
+
+public class AlgaeProcessorScore extends AlgaeSetPivot {
+
+    public AlgaeProcessorScore(){
+        super(Settings.Algae.PROCESSOR_ANGLE);
+
+        algae.deacquireUnder();
+    }
+
+    public void initialize(){
+        super.initialize();
+    }
+
+}

src/main/java/com/stuypulse/robot/commands/algae/AlgaeReefKnockoff.java

@@ -0,0 +1,14 @@
+package com.stuypulse.robot.commands.algae;
+
+import com.stuypulse.robot.constants.Settings;
+
+public class AlgaeReefKnockoff extends AlgaeSetPivot {
+
+    public AlgaeReefKnockoff(){
+        super(Settings.Algae.REEF_KNOCKOFF_ANGLE);
+    }
+
+    public void initialize(){
+        super.initialize();
+    }
+}

src/main/java/com/stuypulse/robot/commands/algae/AlgaeSetPivot.java

@@ -0,0 +1,24 @@
+package com.stuypulse.robot.commands.algae;
+
+import com.stuypulse.robot.subsystems.algae.*;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class AlgaeSetPivot extends InstantCommand {
+
+    protected final Algae algae; 
+    private final double angle; //target angle
+
+    public AlgaeSetPivot(double angle) {
+        algae = Algae.getInstance();
+
+        this.angle = angle;
+        addRequirements(algae);
+    }
+
+    @Override
+    public void initialize() {
+        algae.setTargetAngle(angle);
+    }
+
+}

src/main/java/com/stuypulse/robot/commands/algae/AlgaeStopRoller.java

@@ -0,0 +1,22 @@
+package com.stuypulse.robot.commands.algae;
+
+import com.stuypulse.robot.subsystems.algae.*;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class AlgaeStopRoller extends InstantCommand {
+
+    private final Algae algae; 
+
+    public AlgaeStopRoller() {
+        algae = Algae.getInstance();
+
+        addRequirements(algae);
+    }
+
+    @Override
+    public void initialize() {
+        algae.stopRollers();
+    }
+
+}

src/main/java/com/stuypulse/robot/commands/algae/AlgaeStow.java

@@ -0,0 +1,10 @@
+package com.stuypulse.robot.commands.algae;
+
+import com.stuypulse.robot.constants.Settings;
+
+public class AlgaeStow extends AlgaeSetPivot {
+
+    public AlgaeStow() {
+        super(Settings.Algae.STOW_ANGLE);
+    }
+}

src/main/java/com/stuypulse/robot/constants/Ports.java

@@ -12,4 +12,9 @@ public interface Gamepad {
         int OPERATOR = 1;
         int DEBUGGER = 2;
     }
-}
+
+    public interface Algae {
+        int ROLLER_ID = 0; // update ports later -- def won't be 0
+        int PIVOT_ID = 1; // update ports later
+    }
+}