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Added code for subsystem check #86

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Added code for subsystem check #86

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2 changes: 2 additions & 0 deletions src/main/java/frc/lib/lib2706/SubsystemChecker.java
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Original file line number Diff line number Diff line change
Expand Up @@ -40,6 +40,7 @@ public enum SubsystemType {
SubsystemType.VisionNTSubsystem,
SubsystemType.GripperSubsystem,
SubsystemType.BlingSubsystem,
SubsystemType.ClimberSubsystem,
};

// RobotID: 1, 2022 robot, RapidReact, Clutch
Expand All @@ -60,6 +61,7 @@ public enum SubsystemType {
SubsystemType.DiffTalonSubsystem, // Chassis
SubsystemType.RelaySubsystem,
SubsystemType.BlingSubsystem,
SubsystemType.ClimberSubsystem,
};

// RobotID: 3, 2019 Comp Robot, Deep Space, Mergonaut
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15 changes: 6 additions & 9 deletions src/main/java/frc/robot/commands/ClimberRPM.java
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Expand Up @@ -4,24 +4,21 @@

package frc.robot.commands;
import java.util.function.DoubleSupplier;
import java.util.function.Supplier;

import edu.wpi.first.wpilibj2.command.CommandBase;
import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.subsystems.ClimberSubsystem;

public class ClimberRPM extends CommandBase {
public class ClimberRPM extends Command {

private ClimberSubsystem climber;
private DoubleSupplier m_getPercentOutput;
/** Creates a new IndexerCargo. */
public ClimberRPM(DoubleSupplier getPercentOutput) {

climber = ClimberSubsystem.getInstance();

// Use addRequirements() here to declare subsystem dependencies.
if ( climber != null )
{
addRequirements(climber);

if (climber != null){
addRequirements(climber);
}

m_getPercentOutput = getPercentOutput;
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33 changes: 12 additions & 21 deletions src/main/java/frc/robot/subsystems/ClimberSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,32 +9,33 @@
import com.revrobotics.RelativeEncoder;
import com.revrobotics.CANSparkLowLevel.MotorType;

import frc.lib.lib2706.SubsystemChecker;
import frc.lib.lib2706.SubsystemChecker.SubsystemType;
import frc.robot.Config;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

public class ClimberSubsystem extends SubsystemBase {

//Instance Variables
private static ClimberSubsystem instance = null; // static object that contains all movement controls
private CANSparkMax m_climber;
private RelativeEncoder m_encoder;
//private double targetRPM = CLIMBER_RPM.getValue();
public double kMaxOutput = 1;
public double kMinOutput = -1;
public double currentPosition = 0;
public boolean m_bGoodSensors = false;
private static final ClimberSubsystem INSTANCE_CLIMBER = new ClimberSubsystem();

public static ClimberSubsystem getInstance() {
if (instance == null) {
SubsystemChecker.subsystemConstructed(SubsystemType.ClimberSubsystem);
instance = new ClimberSubsystem();
}
return instance;
}

/** Creates a new ClimberSubSystem. */
private ClimberSubsystem() {

if (Config.Climber_CANID.CLIMBER != -1) {
initializeSubsystem();
}
else
{
m_climber = null;
}

initializeSubsystem();
}

private void initializeSubsystem()
Expand All @@ -59,16 +60,6 @@ public boolean isAvailable()
return m_climber != null;
}

/*
* Returns the singleton instance for the Climber Subsystem
*/
public static ClimberSubsystem getInstance() {
if ( INSTANCE_CLIMBER.isAvailable() == true)
return INSTANCE_CLIMBER;
else
return null;
}

//Run the climber

public void StartClimberRPM(double percentOutput){
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