Added controls for the intake and conveyor system

.wpilib/wpilib_preferences.json

@@ -2,5 +2,5 @@
     "enableCppIntellisense": false,
     "currentLanguage": "java",
     "projectYear": "2020",
-    "teamNumber": null
+    "teamNumber": 9001
 }

src/main/java/frc/robot/Constants.java

@@ -16,4 +16,9 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+    public static final int kIntake = 5;
+    public static final int kConveyor = 6;
+    public static final int kFlywheel = 7;
+
+    public static final double kConveyorSpeed = 0.5;
 }

src/main/java/frc/robot/RobotContainer.java

@@ -9,9 +9,13 @@
 
 import edu.wpi.first.wpilibj.GenericHID;
 import edu.wpi.first.wpilibj.XboxController;
-import frc.robot.commands.ExampleCommand;
-import frc.robot.subsystems.ExampleSubsystem;
+import frc.robot.commands.ConveyorDown;
+import frc.robot.commands.ConveyorUp;
+import frc.robot.subsystems.Conveyor;
+import frc.robot.subsystems.Intake;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 
 /**
  * This class is where the bulk of the robot should be declared.  Since Command-based is a
@@ -20,19 +24,26 @@
  * (including subsystems, commands, and button mappings) should be declared here.
  */
 public class RobotContainer {
-  // The robot's subsystems and commands are defined here...
-  private final ExampleSubsystem m_exampleSubsystem = new ExampleSubsystem();
-
-  private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem);
-
+  // Subsystems
+  private final Intake m_intake = new Intake();
+  private final Conveyor m_conveyor = new Conveyor();
 
+  // Controllers
+  private final XboxController m_driver = new XboxController(0);
+  private final XboxController m_manip = new XboxController(1);
 
   /**
    * The container for the robot.  Contains subsystems, OI devices, and commands.
    */
   public RobotContainer() {
     // Configure the button bindings
     configureButtonBindings();
+
+    m_intake.setDefaultCommand(new RunCommand(() -> m_intake.runIntake(
+      m_manip.getTriggerAxis(GenericHID.Hand.kLeft),
+      m_manip.getTriggerAxis(GenericHID.Hand.kRight)),
+      m_intake
+    ));
   }
 
   /**
@@ -42,6 +53,8 @@ public RobotContainer() {
    * {@link edu.wpi.first.wpilibj2.command.button.JoystickButton}.
    */
   private void configureButtonBindings() {
+    new DPadUp().whileActiveContinuous(new ConveyorUp(m_conveyor));
+    new DPadDown().whileActiveContinuous(new ConveyorDown(m_conveyor));
   }
 
 
@@ -52,6 +65,22 @@ private void configureButtonBindings() {
    */
   public Command getAutonomousCommand() {
     // An ExampleCommand will run in autonomous
-    return m_autoCommand;
+    return null;
+  }
+
+  private class DPadUp extends Trigger {
+    @Override
+    public boolean get() {
+      int pov = m_manip.getPOV();
+      return pov == 315 || pov <= 45;
+    }
+  }
+
+  private class DPadDown extends Trigger {
+    @Override
+    public boolean get() {
+      int pov = m_manip.getPOV();
+      return pov >= 135 && pov <= 225;
+    }
   }
 }

src/main/java/frc/robot/commands/ConveyorDown.java

@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import frc.robot.subsystems.Conveyor;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+/**
+ * An example command that uses an example subsystem.
+ */
+public class ConveyorDown extends CommandBase {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final Conveyor m_conveyor;
+
+  /**
+   * Creates a new ConveyorDown Command.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public ConveyorDown(Conveyor conveyor) {
+    m_conveyor = conveyor;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(conveyor);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_conveyor.lowerConveyor();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_conveyor.stopConveyor();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/commands/ConveyorUp.java

@@ -0,0 +1,53 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.commands;
+
+import frc.robot.subsystems.Conveyor;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+/**
+ * An example command that uses an example subsystem.
+ */
+public class ConveyorUp extends CommandBase {
+  @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
+  private final Conveyor m_conveyor;
+
+  /**
+   * Creates a new ConveyorUp.
+   *
+   * @param subsystem The subsystem used by this command.
+   */
+  public ConveyorUp(Conveyor conveyor) {
+    m_conveyor = conveyor;
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(conveyor);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_conveyor.raiseConveyor();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    m_conveyor.stopConveyor();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc/robot/subsystems/Conveyor.java

@@ -0,0 +1,38 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Conveyor extends SubsystemBase {
+  private final WPI_VictorSPX m_conveyor = new WPI_VictorSPX(Constants.kConveyor);
+
+  /**
+   * Runs conveyor up
+   */
+  public void raiseConveyor() {
+    m_conveyor.set(Constants.kConveyorSpeed);
+  }
+
+  /**
+   * Runs conveyor down
+   */
+  public void lowerConveyor() {
+    m_conveyor.set(-Constants.kConveyorSpeed);
+  }
+
+  /**
+   * Stops conveyor
+   */
+  public void stopConveyor() {
+    m_conveyor.stopMotor();
+  }
+}

src/main/java/frc/robot/subsystems/Intake.java

@@ -0,0 +1,26 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Intake extends SubsystemBase {
+  private final WPI_VictorSPX m_intake = new WPI_VictorSPX(Constants.kIntake);
+
+  /**
+   * Runs the intake motor
+   * @param left Value of left trigger
+   * @param right Value of right trigger
+   */
+  public void runIntake(double left, double right) {
+    m_intake.set(right - left);
+  }
+}