improvements to cargo code

Robot2019/src/main/java/frc/robot/OI.java

@@ -27,11 +27,11 @@ public class OI {
   Joystick rightJoy;
   Joystick manipulator;
 
-  JoystickButton leftSlowButton;
-  JoystickButton rightSlowButton;
+  JoystickButton leftSlowBtn;
+  JoystickButton rightSlowBtn;
 
-  JoystickButton cargoIn;
-  JoystickButton cargoOut;
+  JoystickButton cargoIntakeBtn;
+  JoystickButton cargoEjectBtn;
 
   JoystickButton toggleCameraBtn;
 
@@ -43,15 +43,15 @@ public class OI {
     leftJoy = new Joystick(0); // TODO: set ports to correct values
     rightJoy = new Joystick(1); // TODO: set ports to correct values
 
-    leftSlowButton = new JoystickButton(leftJoy, 1);
-    leftSlowButton.whileHeld(new SlowDrive(SlowDrive.Side.LEFT));
-    rightSlowButton = new JoystickButton(rightJoy, 1);
-    rightSlowButton.whileHeld(new SlowDrive(SlowDrive.Side.RIGHT));
+    leftSlowBtn = new JoystickButton(leftJoy, 1);
+    leftSlowBtn.whileHeld(new SlowDrive(SlowDrive.Side.LEFT));
+    rightSlowBtn = new JoystickButton(rightJoy, 1);
+    rightSlowBtn.whileHeld(new SlowDrive(SlowDrive.Side.RIGHT));
 
-    cargoIn = new JoystickButton(manipulator, 0);
-    cargoIn.whenPressed(new IntakeCargo(cargo));
-    cargoOut = new JoystickButton(manipulator, 1);
-    cargoOut.whenPressed(new EjectCargo(cargo));
+    cargoIntakeBtn = new JoystickButton(manipulator, 0);
+    cargoIntakeBtn.whenPressed(new IntakeCargo(cargo));
+    cargoEjectBtn = new JoystickButton(manipulator, 1);
+    cargoEjectBtn.whenPressed(new EjectCargo(cargo));
 
     toggleCameraBtn = new JoystickButton(leftJoy, 2);
     toggleCameraBtn.whenPressed(new ToggleCamera(driveCamera, hatchCamera, cameraServer));

Robot2019/src/main/java/frc/robot/Robot.java

@@ -30,8 +30,9 @@ public void robotInit() {
     dt = new Drivetrain(RobotMap.leftMaster, RobotMap.leftSlave1, RobotMap.leftSlave2, RobotMap.rightMaster,
         RobotMap.rightSlave1, RobotMap.rightSlave2, oi.leftJoy, oi.rightJoy, RobotMap.leftEnc, RobotMap.rightEnc,
         RobotMap.gyro);
-    cargo = new Cargo(RobotMap.cargo, RobotMap.pdp);
+    cargo = new Cargo(RobotMap.cargoRoller, RobotMap.pdp);
     oi = new OI(cargo, RobotMap.driveCamera, RobotMap.hatchCamera, RobotMap.cameraServer);
+
     chooser.setDefaultOption("Default Auto", new TeleopDrive(dt));
     SmartDashboard.putData("Auto Mode", chooser);
   }

Robot2019/src/main/java/frc/robot/RobotMap.java

@@ -31,7 +31,7 @@
 public class RobotMap {
   static WPI_TalonSRX leftMaster, rightMaster;
   static WPI_VictorSPX leftSlave1, leftSlave2, rightSlave1, rightSlave2;
-  static VictorSP cargo;
+  static VictorSP cargoRoller;
   static Encoder leftEnc, rightEnc;
   static String driveMode;
   static AHRS gyro;
@@ -51,7 +51,7 @@ public class RobotMap {
     rightSlave2 = createConfiguredVictor(7);
 
     // Initialize motors on the cargo mech
-    cargo = new VictorSP(4); // TODO: Set this to the actual correct values
+    cargoRoller = new VictorSP(0);
 
     leftEnc = new Encoder(new DigitalInput(0), new DigitalInput(1)); // TODO: set ports to correct values
     rightEnc = new Encoder(new DigitalInput(2), new DigitalInput(3)); // TODO: set ports to correct values

Robot2019/src/main/java/frc/robot/commands/EjectCargo.java

@@ -12,7 +12,10 @@
 import frc.robot.subsystems.Cargo;
 
 public class EjectCargo extends Command {
-  Timer tim;
+
+  final double ejectDuration = 0.5; // seconds
+
+  Timer timer;
   Cargo cargo;
 
   public EjectCargo(Cargo cargo) {
@@ -22,19 +25,18 @@ public EjectCargo(Cargo cargo) {
 
   @Override
   protected void initialize() {
-    tim.reset();
-    tim.start();
+    timer.reset();
+    timer.start();
   }
 
   @Override
   protected void execute() {
-    cargo.runIntake(-1);
-    // TODO: Make sure this is correct direction
+    cargo.runEject();
   }
 
   @Override
   protected boolean isFinished() {
-    return (tim.get() > 0.5);
+    return (timer.get() > ejectDuration);
   }
 
   @Override

Robot2019/src/main/java/frc/robot/commands/IntakeCargo.java

@@ -12,7 +12,7 @@
 import frc.robot.subsystems.Cargo;
 
 public class IntakeCargo extends Command {
-  Timer tim;
+  Timer timer;
   Cargo cargo;
   boolean overdraw;
 
@@ -24,27 +24,27 @@ public IntakeCargo(Cargo cargo) {
 
   @Override
   protected void initialize() {
-    tim.reset();
+    timer.reset();
   }
 
   @Override
   protected void execute() {
-    cargo.runIntake(1.0);
+    cargo.runIntake();
     if (cargo.hasCargo()) {
       if (!overdraw) {
         overdraw = true;
-        tim.start();
+        timer.start();
       }
     } else {
       overdraw = false;
-      tim.stop();
-      tim.reset();
+      timer.stop();
+      timer.reset();
     }
   }
 
   @Override
   protected boolean isFinished() {
-    return (tim.get() > 0.5);
+    return (timer.get() > 0.5);
   }
 
   @Override

Robot2019/src/main/java/frc/robot/subsystems/Cargo.java

@@ -16,7 +16,7 @@ public class Cargo extends Subsystem {
   // here. Call these from Commands.
 
   private VictorSP roller;
-  private final PowerDistributionPanel pdp;
+  private PowerDistributionPanel pdp;
 
   public Cargo(VictorSP roller, PowerDistributionPanel pdp) {
     this.roller = roller;
@@ -27,16 +27,16 @@ public void stopIntake() {
     roller.stopMotor();
   }
 
-  public void runIntake(double speed) {
-    roller.set(speed);
+  public void runIntake() {
+    roller.set(-1);
   }
 
-  public void runOutake(double speed) {
-    roller.set(-speed);
+  public void runEject() {
+    roller.set(1);
   }
 
   public boolean hasCargo() {
-    return pdp.getCurrent(4) > 15;
+    return pdp.getCurrent(roller.getChannel()) > 15;
     // TODO: set ports to actual cargo motor port
   }