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complete indexer command task! #24

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complete indexer command task! #24

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35 changes: 17 additions & 18 deletions tasks/lesson2-indexer-task/simgui-ds.json
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Original file line number Diff line number Diff line change
Expand Up @@ -2,28 +2,20 @@
"keyboardJoysticks": [
{
"axisConfig": [
{},
{},
{
"decKey": 65,
"incKey": 68
},
{
"decKey": 87,
"incKey": 83
},
{
"decKey": 69,
"decayRate": 0.0,
"incKey": 82,
"keyRate": 0.009999999776482582
}
],
"axisCount": 3,
"buttonCount": 4,
"buttonKeys": [
90,
88,
67,
86
81,
87,
69,
82
],
"povConfig": [
{
Expand Down Expand Up @@ -53,10 +45,10 @@
"axisCount": 2,
"buttonCount": 4,
"buttonKeys": [
77,
44,
46,
47
65,
83,
68,
70
],
"povCount": 0
},
Expand Down Expand Up @@ -92,6 +84,13 @@
"robotJoysticks": [
{
"guid": "Keyboard0"
},
{
"guid": "Keyboard1"
},
{},
{
"guid": "Keyboard2"
}
]
}
1 change: 1 addition & 0 deletions tasks/lesson2-indexer-task/src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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() {
Expand Down
13 changes: 12 additions & 1 deletion tasks/lesson2-indexer-task/src/main/java/frc/robot/subsystems/Indexer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,22 +4,27 @@

package frc.robot.subsystems;

import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

public class Indexer extends SubsystemBase {
// TODO: Add indexing state variable here
boolean indexing;

/** Creates a new Indexer subsystem. */
public Indexer() {}

/** 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;
}

/**
Expand All @@ -29,10 +34,16 @@ 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())
.andThen(Commands.waitSeconds(seconds))
.andThen(Commands.runOnce(() -> stopIndexing()));
}


@Override
public void periodic() {
Expand Down