Initial Coral Subsystem #5
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| public class CoralConstants { | ||
| public static int kCoralFxId = 0; | ||
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| public static final AngularVelocity kCloseEnough = DegreesPerSecond.of(5); |
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We will probably do this in rotations per second but that doesn't really matter here
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| @Override | ||
| public void updateInputs(CoralIOInputs inputs) { |
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Switch this over to refreshAll syntax to avoid multiple can bus calls
BaseStatusSignal.refreshAll(curVelocity, fwdLimitSwitch, revLimitSwitch);
| return Set.of(new Measure("State", () -> curState.ordinal())); | ||
| } | ||
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| public enum CoralState { |
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Coral subsystem doesn't zero
The states for the coral subsystem will be based on whether or not the subsystem has a coral (or where the coral is in the mechanism)
On loading, one of the beam breaks will show the coral is starting to enter the mechanism, the other will show that it is fully loaded
On ejecting, one of the beam breaks will show that it is fully out of the mechanism
| public void periodic() { | ||
| // Read Inputs | ||
| io.updateInputs(inputs); | ||
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Need to add Logger.processInputs(), see example subsystem for an example of this
| public void updateInputs(CoralIOInputs inputs) { | ||
| inputs.velocity = curVelocity.refresh().getValue(); | ||
| inputs.isFwdLimitSwitchClosed = fwdLimitSwitch.refresh().getValue().value == 1; | ||
| inputs.isRevLimitSwitchClosed = revLimitSwitch.refresh().getValue().value == 0; |
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Likely these will either both be 1 or both 0, but we won't know until we get hardware
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