save

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

@@ -39,5 +39,7 @@ public static class OperatorConstants {
   public static class PCM {
     public final int PISTON_FORWARD = 0;
     public final int PISTON_REVERSE = 1;
+    public final int PISTON_CLIMBER_FORWARD = 2;
+    public final int PISTON_CLIMBER_REVERSE = 3;
   }
 }

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

@@ -27,7 +27,14 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    climberInAnBox.climb(xboxController.getRightTriggerAxis());
+    if(xboxController.getRightTriggerAxis() != 0){
+      climberInAnBox.activateRatchet();
+      climberInAnBox.climb(xboxController.getRightTriggerAxis());
+    }
+    if(xboxController.getLeftTriggerAxis() != 0){
+      climberInAnBox.climb(-xboxController.getLeftTriggerAxis());
+    }
+
   }
 
   // Called once the command ends or is interrupted.

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

@@ -21,9 +21,9 @@ public SetShooterAngleCommand(AngleShooter angleShooter, Limelight limelight) {
         // The controller that the command will use
         new PIDController(0, 0, 0),
         // This should return the measurement
-        () -> angleShooter.getEncoder(),
+        () -> angleShooter.getEncoderValue(),
         // This should return the setpoint (can also be a constant)
-        () -> (angleShooter.encoderZero()+((limelight.calculateShooterAngle()*8.57))),//TODO adjust 8.57 based on gearbox and encoder
+        () -> ((limelight.calculateShooterAngle()*8.57)),//TODO adjust 8.57 based on gearbox and encoder
         // This uses the output
         output -> {
           angleShooter.setPower(output);

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

@@ -5,19 +5,21 @@
 package frc.robot.subsystems;
 
 import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.AbsoluteEncoder;
 import com.revrobotics.CANSparkMax;
-import com.revrobotics.RelativeEncoder;
+
 
 import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.OperatorConstants;
 
 public class AngleShooter extends SubsystemBase {
   private CANSparkMax shooterAngle;
-  private RelativeEncoder shooterAngleEncoder;
+  private DutyCycleEncoder shooterAngleEncoder = new DutyCycleEncoder(0);
   private PIDController pidControllerShooterAngle = new PIDController(0.1, 0.1, 0);
 
-  private double shooterAngleEncoderZero = 0.0;
+
   private double encoderOffset = 0.0;
 
 
@@ -30,15 +32,14 @@ public AngleShooter() {
 
         shooterAngle.setInverted(false);
 
-        shooterAngleEncoder = shooterAngle.getAlternateEncoder(42);
+
 
   }
-    public double getEncoder(){
-      return shooterAngleEncoder.getPosition() + encoderOffset;
-  }
-  public double encoderZero(){
-    return shooterAngleEncoderZero;
+    public double getEncoderValue(){
+
+      return shooterAngleEncoder.getAbsolutePosition()-encoderOffset;
   }
+
   public void setPower(double power){
     shooterAngle.set(power);
   }

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

@@ -4,30 +4,44 @@
 
 package frc.robot.subsystems;
 
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkLowLevel.MotorType;
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.OperatorConstants;
+import frc.robot.Constants.PCM;
 
 public class ClimberInAnBox extends SubsystemBase {
-  private CANSparkMax climberDroit;
-  private CANSparkMax climberGauche;
+  private Talon climberDroit;
+  private Talon climberGauche;
+   private DoubleSolenoid piston;
 
   /** Creates a new ClimberInAnBox. */
   public ClimberInAnBox() {
     OperatorConstants deviceNumber = new OperatorConstants();
-    climberDroit = new CANSparkMax(deviceNumber.DeviceNumberClimberDroit, MotorType.kBrushless);
-    climberGauche = new CANSparkMax(deviceNumber.DeviceNumberClimberGauche, MotorType.kBrushless);
+    PCM pcm = new PCM();
+    climberDroit = new Talon(deviceNumber.DeviceNumberClimberDroit);
+    climberGauche = new Talon(deviceNumber.DeviceNumberClimberGauche);
 
     climberDroit.setInverted(false);
     climberGauche.setInverted(false);
+    piston =
+        new DoubleSolenoid(1, PneumaticsModuleType.CTREPCM, pcm.PISTON_CLIMBER_FORWARD, pcm.PISTON_CLIMBER_REVERSE);
+        piston.set(DoubleSolenoid.Value.kReverse);
   }
 
   public void climb(double activated) {
     climberDroit.set(activated);
     climberGauche.set(activated);
   }
-
+  public void activateRatchet(){
+
+      piston.set(DoubleSolenoid.Value.kForward);
+
+
+
+
+  }
   @Override
   public void periodic() {
     // This method will be called once per scheduler run

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

@@ -7,6 +7,7 @@
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.OperatorConstants;
 
@@ -15,6 +16,9 @@ public class Intake extends SubsystemBase {
   private CANSparkMax intakeDroit;
   private CANSparkMax intakeGauche;
   private CANSparkMax intakePivot;
+
+  DigitalInput outlimitSwitch = new DigitalInput(0);
+  DigitalInput inlimitSwitch = new DigitalInput(1);
   public Intake() {
     OperatorConstants deviceNumber = new OperatorConstants();
     intakeDroit = new CANSparkMax(deviceNumber.DeviceNumberIntakeDroit, MotorType.kBrushless);
@@ -30,7 +34,16 @@ public void spinWheel(double power){
     intakeGauche.set(power);
   }
   public void moveIntake(double power){
-    intakePivot.set(power);
+    if(inlimitSwitch.get() && power < 0){
+      intakePivot.set(0);
+    }
+    else if(outlimitSwitch.get() && power > 0){
+      intakePivot.set(0);
+    }
+    else{
+      intakePivot.set(power);
+    }
+
   }
   @Override
   public void periodic() {