/CougarBench

Test bench setup

Primary LanguageJavaOtherNOASSERTION

CougarBench

This repo contains basic example code that can be run on our test bench for illustrative purposes.

Program flow - How to program a motor command and tie it to a controller button

  • Controllers, buttons, and their associated commands are defined (See: RobotContainer.java) XboxController Controller1 = new XboxController(0); new JoystickButton(Controller1, Button.kA.value).whenHeld(new SpinIntakeIn(m_IntakeSubsystem));

  • Commands call upon methods defined in the associated subsytem (Example: SpinIntakeIn.java)

     public SpinIntakeIn(IntakeSubsystem subsystem) {
   // Use addRequirements() here to declare subsystem dependencies.
   m_IntakeSubsystem = subsystem;
   addRequirements(subsystem);
 }
 ...
 
 // Called every time the scheduler runs while the command is scheduled.
 @Override
 **public void execute() {
  m_IntakeSubsystem.IntakeIn();
 }**

 // Called once the command ends or is interrupted.
 @Override
 **public void end(boolean interrupted) {
   m_IntakeSubsystem.IntakeStop();
 }**

 // Returns true when the command should end.
 @Override
 public boolean isFinished() {
   return false;
 }

  • Subsystems contain the methods to actuate motors/pneumatics as well as the controller definitions and declarations (Example: IntakeSubsystem.java)

     private final WPI_TalonSRX IntakeMotor = new WPI_TalonSRX(6);
 
 ...
 
 public void IntakeIn(){
   //set motor to 100% output in positive direction
   IntakeMotor.set(.3);
 }

 public void IntakeOut(){
   //sets motor to 100% output in negative direction
   IntakeMotor.set(-0.3);
 }

 public void IntakeStop(){
   IntakeMotor.stopMotor();
 }
 @Override
 public void periodic() {
   // This method will be called once per scheduler run
 }

Additional Resources