Merge pull request #237 from strykeforce/lilikip/defeat-kraken

Defeat the Kraken

Author: mwitcpalek

src/main/java/frc/team2767/deepspace/command/approach/sequences/AutoHatchPickupCommandGroup.java

@@ -4,7 +4,6 @@
 import frc.team2767.deepspace.command.approach.*;
 import frc.team2767.deepspace.command.biscuit.BiscuitConfigMotionAccelCommand;
 import frc.team2767.deepspace.command.biscuit.BiscuitFastExecuteCommand;
-import frc.team2767.deepspace.command.biscuit.ReleaseKrakenCommand;
 import frc.team2767.deepspace.command.log.LogCommand;
 import frc.team2767.deepspace.command.states.SetActionCommand;
 import frc.team2767.deepspace.command.states.SetGamePieceCommand;
@@ -32,7 +31,6 @@ public AutoHatchPickupCommandGroup() {
 
     addSequential(new PressureSetCommand(VacuumSubsystem.kHatchPressureInHg), 0.02);
     addSequential(new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.HATCH_PICKUP));
-    addParallel(new ReleaseKrakenCommand(false)); // Don't want kraken in teleop
     addParallel(new BallToHatchAutoSafetyCommand());
     addSequential(new VisionAutoAlignPickupCommand());
     addSequential(new BiscuitFastExecuteCommand());

src/main/java/frc/team2767/deepspace/command/biscuit/ReleaseKrakenCommand.java

@@ -1,7 +1,6 @@
 package frc.team2767.deepspace.command.sequences.pickup;
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
-import frc.team2767.deepspace.command.biscuit.ReleaseKrakenCommand;
 import frc.team2767.deepspace.command.intake.IntakePositionCommand;
 import frc.team2767.deepspace.command.intake.RollerInCommand;
 import frc.team2767.deepspace.command.log.LogCommand;
@@ -14,7 +13,6 @@ public CargoGroundPickupCommandGroup() {
     addSequential(
         new CommandGroup() {
           {
-            addParallel(new ReleaseKrakenCommand(false));
             addParallel(new IntakePositionCommand(IntakeSubsystem.kLoadPositionDeg));
             addParallel(new RollerInCommand());
             addParallel(new HatchToBallConditionalCommand());

src/main/java/frc/team2767/deepspace/command/sequences/pickup/CargoGroundPickupCommandGroup.java

@@ -2,7 +2,6 @@
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
 import frc.team2767.deepspace.command.biscuit.BiscuitExecutePlanCommand;
-import frc.team2767.deepspace.command.biscuit.ReleaseKrakenCommand;
 import frc.team2767.deepspace.command.elevator.ElevatorSetPositionCommand;
 import frc.team2767.deepspace.command.intake.IntakePositionCommand;
 import frc.team2767.deepspace.command.intake.RollerInCommand;
@@ -22,7 +21,6 @@ public PlayerCargoCommandGroup() {
             addParallel(new SetFieldDirectionCommand(FieldDirection.LEFT));
             addParallel(new SetActionCommand(Action.PICKUP));
             addParallel(new SetGamePieceCommand(GamePiece.CARGO));
-            addParallel(new ReleaseKrakenCommand(false));
           }
         });
 

src/main/java/frc/team2767/deepspace/command/sequences/pickup/PlayerCargoCommandGroup.java

@@ -2,7 +2,6 @@
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
 import frc.team2767.deepspace.command.biscuit.BiscuitSetPositionCommand;
-import frc.team2767.deepspace.command.biscuit.ReleaseKrakenCommand;
 import frc.team2767.deepspace.command.elevator.ElevatorSetPositionCommand;
 import frc.team2767.deepspace.command.intake.IntakePositionCommand;
 import frc.team2767.deepspace.command.log.LogCommand;
@@ -30,7 +29,6 @@ public SandstormHatchPickupCommandGroup() {
             addParallel(new SetGamePieceCommand(GamePiece.HATCH));
             addParallel(new SetFieldDirectionCommand(FieldDirection.LEFT));
             addParallel(new SetLevelCommand(ElevatorLevel.ONE));
-            addParallel(new ReleaseKrakenCommand(false)); // Hatch staged with Kraken stowed
             addParallel(new IntakePositionCommand(IntakeSubsystem.kStowPositionDeg));
           }
         });

src/main/java/frc/team2767/deepspace/command/sequences/pickup/SandstormHatchPickupCommandGroup.java

@@ -2,7 +2,6 @@
 
 import edu.wpi.first.wpilibj.command.CommandGroup;
 import frc.team2767.deepspace.command.biscuit.BiscuitMoveSafeCommand;
-import frc.team2767.deepspace.command.biscuit.ReleaseKrakenCommand;
 import frc.team2767.deepspace.command.elevator.ElevatorMoveToSafePositionCommand;
 import frc.team2767.deepspace.command.log.LogCommand;
 import frc.team2767.deepspace.command.sequences.pickup.BallToHatchConditionalCommand;
@@ -19,7 +18,6 @@ public PositionExecuteCommandGroup() {
         new CommandGroup() {
           {
             addParallel(new BallToHatchConditionalCommand());
-            addParallel(new ReleaseKrakenCommand(true));
           }
         });
     addSequential(new LogCommand("END POSITION EXECUTE"));

src/main/java/frc/team2767/deepspace/command/sequences/place/PositionExecuteCommandGroup.java

@@ -4,7 +4,6 @@
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.TalonSRXConfiguration;
 import edu.wpi.first.wpilibj.Preferences;
-import edu.wpi.first.wpilibj.Servo;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import frc.team2767.deepspace.Robot;
 import frc.team2767.deepspace.health.Zeroable;
@@ -53,16 +52,10 @@ public class BiscuitSubsystem extends Subsystem implements Limitable, Zeroable,
   private static double kRight270TiltPositionDeg;
   private static int kCloseEnoughTicks;
   private static int kAbsoluteZeroTicks;
-  private static double kKrakenRelease;
-  private static double kKrakenHide;
-  private static double kKrakenLock;
-  private static double kKrakenUnlock;
   private static double kCompressionLimit;
   private final Logger logger = LoggerFactory.getLogger(this.getClass());
   private double targetBiscuitPositionDeg = 0;
   private TalonSRX biscuit = new TalonSRX(BISCUIT_ID);
-  private Servo krakenActuate = new Servo(KRAKEN_ACTUATE_ID);
-  private Servo krakenLock = new Servo(KRAKEN_LOCK_ID);
   private int setpointTicks;
 
   private int graphCount;
@@ -100,10 +93,6 @@ private void biscuitPreferences() {
     kRight270PositionDeg = getPreference("right_270_deg", -270);
     kLeft270TiltPositionDeg = getPreference("tilt_270_L_deg", 295);
     kRight270TiltPositionDeg = getPreference("tilt_270_R_deg", -295);
-    kKrakenRelease = getPreference("kraken_release", 0.0);
-    kKrakenHide = getPreference("kraken_hide", 0.9);
-    kKrakenLock = getPreference("kraken_lock", 0.0);
-    kKrakenUnlock = getPreference("kraken_unlock", 0.0);
     kCompressionLimit = getPreference("compression_limit", 215.0);
   }
 
@@ -380,18 +369,6 @@ public void setLimits(int forward, int reverse) {
     }
   }
 
-  // --------------------------KRAKEN---------------------------------
-  public void releaseKraken(boolean release) {
-    logger.info("Releasing Kraken: {}", release);
-    double position = release ? kKrakenRelease : kKrakenHide;
-    krakenActuate.set(position);
-  }
-
-  public void lockKraken(boolean lock) {
-    logger.info("Locking Kraken: {}", lock);
-    double position = lock ? kKrakenLock : kKrakenUnlock;
-  }
-
   // --------------------------GRAPHER---------------------------------
   @NotNull
   @Override