Added the new climber and removed tramps

Author: gabe927

src/org/usfirst/frc/team2363/robot/OI.java

@@ -19,7 +19,6 @@
 import org.usfirst.frc.team2363.robot.commands.gripper.EjectCube;
 import org.usfirst.frc.team2363.robot.commands.gripper.IntakeCube;
 import org.usfirst.frc.team2363.robot.commands.gripper.ShootCube;
-import org.usfirst.frc.team2363.robot.commands.tramps.DeployTramps;
 import org.usfirst.frc.team2363.robot.subsystems.Elevator.Height;
 
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
@@ -48,11 +47,6 @@ public OI() {
 		new JoystickButton(operatorController, RobotMap.RB).whenPressed(new OpenClaw());
 		new JoystickButton(operatorController, RobotMap.LB).whenPressed(new CloseClaw());
 		new JoystickButton(operatorController, RobotMap.A).whenPressed(new ManualPositionalElevator());
-		//tramp controls
-//		new JoystickButton(operatorController, RobotMap.RIGHT_STICK_BUTTON).whenPressed(new DeployTramps());
-//		new JoystickButton(operatorController, RobotMap.LOGO_RIGHT).whenPressed(new DeployLeftTramps());
-//		new JoystickButton(operatorController, RobotMap.LOGO_LEFT).whenPressed(new DeployRightTramps());
-		new JoystickButton(operatorController, RobotMap.LOGO_RIGHT).whenPressed(new DeployTramps());
 
 //		new JoystickButton(driverController, RobotMap.RB).whenPressed(new SlowJoystickDrive());
 //		new JoystickButton(driverController, RobotMap.RB).whenReleased(new JoystickDrive());
@@ -158,8 +152,8 @@ public static double getTurnScaling(double x) {
 		return -Math.abs(LOW_SPEED_SCALING - HIGH_SPEED_SCALING) * Math.abs(x) + LOW_SPEED_SCALING;
 	}
 
-	//Tramp Power
-	public double getLeftTrampPower() {
+	//Climber Power
+	public double getClimberPower() {
 		double stick = -operatorController.getRawAxis(RIGHT_STICK_Y);
 		stick *= Math.abs(stick);
 		if (Math.abs(stick) < 0.05) {
@@ -168,15 +162,6 @@ public double getLeftTrampPower() {
 		return stick;
 	}
 
-	public double getRightTrampPower() {
-		double stick = -operatorController.getRawAxis(LEFT_STICK_Y);
-		stick *= Math.abs(stick);
-		if (Math.abs(stick) < 0.05) {
-			stick = 0;
-		}
-		return stick;
-	}
-	
 	/**
 	 * Turns on and off the rumble function on the driver and operator controllers
 	 * @param set true to turn on rumble

src/org/usfirst/frc/team2363/robot/Robot.java

@@ -7,11 +7,11 @@
 import org.usfirst.frc.team2363.robot.commands.autonomous.PathTesting;
 import org.usfirst.frc.team2363.robot.commands.elevator.RaiseElevator;
 import org.usfirst.frc.team2363.robot.subsystems.Claws;
+import org.usfirst.frc.team2363.robot.subsystems.Climber;
 import org.usfirst.frc.team2363.robot.subsystems.Drivetrain;
 import org.usfirst.frc.team2363.robot.subsystems.Elevator;
 import org.usfirst.frc.team2363.robot.subsystems.Elevator.Height;
 import org.usfirst.frc.team2363.robot.subsystems.Gripper;
-import org.usfirst.frc.team2363.robot.subsystems.Tramps;
 import org.usfirst.frc.team319.paths.OppositeSideScale;
 import org.usfirst.frc.team319.paths.SameSideScale;
 import org.usfirst.frc.team319.paths.scaling_calibration;
@@ -44,7 +44,7 @@ public class Robot extends IterativeRobot {
 	private final PowerDistributionPanel pdp = new PowerDistributionPanel();
 	private final Compressor compressor = new Compressor();
 	public static Gripper gripper;
-	public static Tramps tramps;
+	public static Climber climber;
 	public static Elevator elevator;
 	public static Claws claws;
 
@@ -62,7 +62,7 @@ public Robot() {
 		LOG = new HelixLogger();
 
 		drivetrain = new Drivetrain();
-		tramps = new Tramps();
+		climber = new Climber();
 		elevator = new Elevator();
 		claws = new Claws();
 		gripper = new Gripper();

src/org/usfirst/frc/team2363/robot/RobotMap.java

@@ -52,24 +52,10 @@ public class RobotMap {
 
 	//Analog Switch
 	public static final int ANALOG_INPUT = 0;
-
-	//Tramp Solenoids
-	public static final int TRAMPS_DEPLOY = 2;
-	public static final int TRAMPS_RETRACT = 5;
-	public static final int LEFT1_TRAMP_RAISE = 3;
-	public static final int LEFT1_TRAMP_LOWER = 4;
-	public static final int LEFT2_TRAMP_RAISE = 3;
-	public static final int LEFT2_TRAMP_LOWER = 4;
-	public static final int RIGHT1_TRAMP_RAISE = 0;
-	public static final int RIGHT1_TRAMP_LOWER = 7;
-	public static final int RIGHT2_TRAMP_RAISE = 1;
-	public static final int RIGHT2_TRAMP_LOWER = 6;
 
-	//Tramp Motors
-	public static final int FRONT_LEFT_TRAMP = 40;
-	public static final int REAR_LEFT_TRAMP = 42;
-	public static final int FRONT_RIGHT_TRAMP = 41;
-	public static final int REAR_RIGHT_TRAMP = 43;
+	//Climber Motors
+	public static final int FRONT_CLIMBER = 40;
+	public static final int REAR_CLIMBER = 41;
 
 	//Gripper Solenoids
 	public static final int CLAW_OPEN = 6;

src/org/usfirst/frc/team2363/robot/commands/climber/ClimberCommand.java

@@ -0,0 +1,32 @@
+package org.usfirst.frc.team2363.robot.commands.climber;
+
+import org.usfirst.frc.team2363.robot.Robot;
+
+import edu.wpi.first.wpilibj.command.Command;
+
+/**
+ *
+ */
+public class ClimberCommand extends Command {
+
+    public ClimberCommand() {
+        requires(Robot.climber);
+    }
+
+    protected void initialize() {
+    }
+
+    protected void execute() {
+    	Robot.climber.setPower(Robot.oi.getClimberPower());
+    }
+
+    protected boolean isFinished() {
+        return false;
+    }
+
+    protected void end() {
+    }
+
+    protected void interrupted() {
+    }
+}

src/org/usfirst/frc/team2363/robot/commands/elevator/ManualPositionalElevator.java

@@ -2,7 +2,6 @@
 
 import org.iif.th.util.logger.HelixEvents;
 import org.usfirst.frc.team2363.robot.Robot;
-import org.usfirst.frc.team2363.robot.commands.tramps.RetractTramps;
 import org.usfirst.frc.team2363.robot.subsystems.Elevator;
 
 import edu.wpi.first.wpilibj.command.Command;

src/org/usfirst/frc/team2363/robot/commands/tramps/DeployLeftTramps.java

@@ -0,0 +1,33 @@
+package org.usfirst.frc.team2363.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import static org.usfirst.frc.team2363.robot.RobotMap.*;
+
+import org.usfirst.frc.team2363.robot.commands.climber.ClimberCommand;
+
+import edu.wpi.first.wpilibj.command.Subsystem;
+
+/**
+ *
+ */
+public class Climber extends Subsystem {
+	
+	private TalonSRX front = new TalonSRX(FRONT_CLIMBER);
+	private TalonSRX rear = new TalonSRX(REAR_CLIMBER);
+	
+	public Climber() {
+		rear.follow(front);
+		front.setInverted(true);
+		rear.setInverted(false);
+	}
+	
+    public void setPower(double power) {
+	    front.set(ControlMode.PercentOutput, power);
+    }
+
+    public void initDefaultCommand() {
+        setDefaultCommand(new ClimberCommand());
+    }
+}
+