Merge pull request #236 from strykeforce/rliu/trident

Rliu/trident

Author: mwitcpalek

src/main/java/frc/team2767/deepspace/Robot.java

@@ -113,7 +113,7 @@ public void autonomousInit() {
   @Override
   public void teleopInit() {
     DRIVE.sandstormAxisFlip(false);
-    VACUUM.setSolenoidsState(VacuumSubsystem.SolenoidStates.GAME_PIECE_PICKUP);
+    VACUUM.setSolenoidsState(VacuumSubsystem.SolenoidStates.HATCH_PICKUP);
   }
 
   @Override

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

@@ -31,7 +31,7 @@ public AutoHatchPickupCommandGroup() {
         });
 
     addSequential(new PressureSetCommand(VacuumSubsystem.kHatchPressureInHg), 0.02);
-    addSequential(new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.GAME_PIECE_PICKUP));
+    addSequential(new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.HATCH_PICKUP));
     addParallel(new ReleaseKrakenCommand(false)); // Don't want kraken in teleop
     addParallel(new BallToHatchAutoSafetyCommand());
     addSequential(new VisionAutoAlignPickupCommand());

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

@@ -34,7 +34,7 @@ public HatchPickupCommandGroup() {
         });
 
     addSequential(new PressureSetCommand(VacuumSubsystem.kHatchPressureInHg), 0.3);
-    addSequential(new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.GAME_PIECE_PICKUP));
+    addSequential(new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.HATCH_PICKUP));
     addSequential(new TalonConfigCommand(DriveSubsystem.DriveTalonConfig.YAW_CONFIG));
     addSequential(new QueryPyeyeCommand());
     addSequential(new CalculateRotationCommand());

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

@@ -26,8 +26,7 @@ public CoconutPickupCommandGroup() {
                 new CommandGroup() {
                   {
                     addSequential(
-                        new SetSolenoidStatesCommand(
-                            VacuumSubsystem.SolenoidStates.GAME_PIECE_PICKUP));
+                        new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.CARGO_PICKUP));
                     addSequential(new PressureSetCommand(VacuumSubsystem.kBallPressureInHg), 0.5);
                   }
                 });
@@ -40,7 +39,7 @@ public CoconutPickupCommandGroup() {
     new CommandGroup() {
       {
         addParallel(
-            new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.GAME_PIECE_PICKUP));
+            new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.HATCH_PICKUP));
         addParallel(new ElevatorDownFastOpenLoopCommand());
       }
     });*/

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

@@ -18,7 +18,7 @@ public class PlayerHatchCommandGroup extends CommandGroup {
   public PlayerHatchCommandGroup() {
     addSequential(new LogCommand("BEGIN PLAYER HATCH PICKUP"));
     addSequential(new ApproachDirectionCommand());
-    addSequential(new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.GAME_PIECE_PICKUP));
+    addSequential(new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.HATCH_PICKUP));
     //    addParallel(new AlignToFieldPickupCommand());
     addParallel(new PressureSetCommand(VacuumSubsystem.kHatchPressureInHg), 0.02);
     addParallel(new BiscuitMoveSafeCommand());

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

@@ -25,8 +25,7 @@ public SandstormHatchPickupCommandGroup() {
         new CommandGroup() {
           {
             addParallel(new PressureSetCommand(VacuumSubsystem.kHatchPressureInHg), 0.05);
-            addParallel(
-                new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.GAME_PIECE_PICKUP));
+            addParallel(new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.HATCH_PICKUP));
             addParallel(new SetActionCommand(Action.PLACE));
             addParallel(new SetGamePieceCommand(GamePiece.HATCH));
             addParallel(new SetFieldDirectionCommand(FieldDirection.LEFT));

src/main/java/frc/team2767/deepspace/control/SmartDashboardControls.java

@@ -235,8 +235,7 @@ private void addTestCommands() {
   private void addVacuumCommands() {
     SmartDashboard.putData("Vacuum/cool", new VacuumCooldownCommandGroup());
     SmartDashboard.putData(
-        "Pit/GamePiece",
-        new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.GAME_PIECE_PICKUP));
+        "Pit/GamePiece", new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.HATCH_PICKUP));
     SmartDashboard.putData(
         "Pit/PressureAccumulate",
         new SetSolenoidStatesCommand(VacuumSubsystem.SolenoidStates.PRESSURE_ACCUMULATE));

src/main/java/frc/team2767/deepspace/subsystem/VacuumSubsystem.java

@@ -46,6 +46,7 @@ public class VacuumSubsystem extends Subsystem implements Item {
   private final int STABLE_THRESHOLD_CLIMB = 2;
   private final Solenoid tridentSolenoid = new Solenoid(0, Valve.TRIDENT.ID);
   private final Solenoid climbSolenoid = new Solenoid(0, Valve.CLIMB.ID);
+  private final Solenoid cargoSolenoid = new Solenoid(0, Valve.CARGO.ID);
   private final TalonSRX vacuum = new TalonSRX(VACUUM_ID);
   private final AnalogInput analogInput = new AnalogInput(TEMPERATURE_ID);
   private final AnalogInput climbPressure = new AnalogInput(CLIMB_PRESSURE);
@@ -131,22 +132,34 @@ public Solenoid getClimbSolenoid() {
     return climbSolenoid;
   }
 
+  public Solenoid getCargoSolenoid() {
+    return cargoSolenoid;
+  }
+
   public void setSolenoidsState(SolenoidStates state) {
     switch (state) {
       case CLIMB:
         climbSolenoid.set(true);
         tridentSolenoid.set(false);
+        cargoSolenoid.set(false);
         climbing = true;
         break;
       case STOP: // fall through
       case PRESSURE_ACCUMULATE:
         climbSolenoid.set(false);
         tridentSolenoid.set(false);
+        cargoSolenoid.set(false);
         break;
       case COOL_DOWN: // fall through
-      case GAME_PIECE_PICKUP:
+      case HATCH_PICKUP:
         tridentSolenoid.set(true);
         climbSolenoid.set(false);
+        cargoSolenoid.set(false);
+        break;
+      case CARGO_PICKUP:
+        tridentSolenoid.set(false);
+        climbSolenoid.set(false);
+        cargoSolenoid.set(true);
         break;
       default:
         logger.warn("could not set to {}", state);
@@ -302,7 +315,8 @@ public double getClimbPressure() {
 
   public enum Valve {
     TRIDENT(0),
-    CLIMB(2);
+    CLIMB(2),
+    CARGO(3);
 
     public final int ID;
 
@@ -314,8 +328,9 @@ public enum Valve {
   public enum SolenoidStates {
     PRESSURE_ACCUMULATE,
     CLIMB,
-    GAME_PIECE_PICKUP,
+    HATCH_PICKUP,
     STOP,
-    COOL_DOWN
+    COOL_DOWN,
+    CARGO_PICKUP
   }
 }