Luis's Lessons

tasks/java-evaluation/Elevator.java

@@ -0,0 +1,22 @@
+public class Elevator {
+    private int floor;
+
+    public Elevator(int start) {
+        System.out.println("Elevator instantiated at floor " + start);
+        floor = start;
+    }
+
+    public void moveUp() {
+        floor++;
+        System.out.println("Moving up... now at floor " + floor);
+    }
+
+    public void moveDown() {
+        floor--;
+        System.out.println("Moving down... now at floor " + floor);
+    }
+
+    public int getCurrentFloor() {
+        return floor;
+    }
+}

tasks/java-evaluation/ElevatorController.java

@@ -0,0 +1,26 @@
+public class ElevatorController {
+    private int minFloor;
+    private int maxFloor;
+    private Elevator elevator;
+
+    public ElevatorController(Elevator e, int min, int max) {
+        elevator = e;
+        minFloor = min;
+        maxFloor = max;
+    }
+
+    public void goToFloor(int floor) {
+        if (floor < minFloor || floor > maxFloor) {
+            System.out.println("Floor " + floor + " is not a valid floor");
+        } else {
+            while (elevator.getCurrentFloor() != floor) {
+                if (elevator.getCurrentFloor() < floor) {
+                    elevator.moveUp();
+                } else {
+                    elevator.moveDown();
+                }
+            }
+            System.out.println("Arrived at floor " + floor);
+        }
+    }
+}

tasks/java-evaluation/Main.java

@@ -0,0 +1,12 @@
+public class Main {
+    public static void main(String[] args) {
+        Elevator elevator = new Elevator(1);
+        ElevatorController controller = new ElevatorController(elevator, 1, 5);
+        controller.goToFloor(3);
+        controller.goToFloor(2);
+        controller.goToFloor(0);
+        controller.goToFloor(6);
+        controller.goToFloor(5);
+        controller.goToFloor(1);
+    }
+}

tasks/lesson2-indexer-task/src/main/java/frc/robot/RobotContainer.java

@@ -22,6 +22,7 @@ public RobotContainer() {
 
   private void configureBindings() {
     // TODO: Bind indexForSeconds(1.5) to joystick button 1
+    joystick.button(1).onTrue(indexer.indexForSeconds(1.5));
   }
 
   public Command getAutonomousCommand() {

tasks/lesson2-indexer-task/src/main/java/frc/robot/subsystems/Indexer.java

@@ -5,21 +5,25 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.*;
 
 public class Indexer extends SubsystemBase {
   // TODO: Add indexing state variable here
-
+  private boolean indexing;
   /** Creates a new Indexer subsystem. */
-  public Indexer() {}
-
+  public Indexer() {
+    indexing = false;
+  }
   /** Starts the indexing process. */
   public void startIndexing() {
     // TODO: Set indexing state to true
+    indexing = true;
   }
 
   /** Stops the indexing process. */
   public void stopIndexing() {
     // TODO: Set indexing state to false
+    indexing = false;
   }
 
   /**
@@ -29,10 +33,14 @@ public void stopIndexing() {
    */
   public boolean isIndexing() {
     // TODO: Return indexing state
-    return false;
+    return indexing;
   }
 
   // TODO: Implement indexForSeconds() command factory
+  public Command indexForSeconds(double seconds) {
+    // return Commands.runOnce(() -> startIndexing()).withTimeout(seconds).runOnce(() -> stopIndexing());
+    return Commands.runOnce(() -> startIndexing()).andThen(Commands.waitSeconds(seconds)).andThen(()-> stopIndexing());
+  }
 
   @Override
   public void periodic() {