Changes to Intake also Juicy 3

src/main/java/org/usfirst/frc4904/robot/RobotMap.java

@@ -1,8 +1,17 @@
 package org.usfirst.frc4904.robot;
 
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
 import edu.wpi.first.wpilibj2.command.Subsystem;
+
+import org.usfirst.frc4904.standard.custom.PCMPort;
 import org.usfirst.frc4904.standard.custom.controllers.CustomJoystick;
 import org.usfirst.frc4904.standard.custom.controllers.CustomXbox;
+import org.usfirst.frc4904.standard.custom.motioncontrollers.CANTalonFX;
+import org.usfirst.frc4904.standard.custom.motioncontrollers.CANTalonSRX;
+import org.usfirst.frc4904.standard.subsystems.SolenoidSubsystem.SolenoidState;
+import org.usfirst.frc4904.standard.subsystems.SolenoidSubsystem;
+import org.usfirst.frc4904.standard.subsystems.motor.Motor;
+
 
 public class RobotMap {
     public static class Port {
@@ -12,6 +21,9 @@ public static class HumanInput {
         }
 
         public static class CANMotor {
+            public static final int AXLE_INTAKE_MOTOR = -1; //TODO: set port for axel intake motor
+            public static final int SECONDARY_INTAKE_MOTOR = -1; //TODO: set port for axel intake motor
+
         }
 
         public static class PWM {
@@ -21,6 +33,7 @@ public static class CAN {
         }
 
         public static class Pneumatics {
+            public static final PCMPort DRAWBRIDGE_INTAKE_SOLENOID = new PCMPort(-1, PneumaticsModuleType.CTREPCM, -1, -1); //TODO: set port for drawbridge intake solenoid
         }
 
         public static class Digital {
@@ -51,6 +64,9 @@ public static class Turn {
     }
 
     public static class Component {
+        public static Motor intakeAxleMotor;
+        public static Motor intakeSecondaryMotor;
+        public static SolenoidSubsystem intakeDrawbridgeSolenoid;
     }
 
     public static class Input {
@@ -70,5 +86,9 @@ public RobotMap() {
         HumanInput.Driver.xbox = new CustomXbox(Port.HumanInput.xboxController);
 		HumanInput.Operator.joystick = new CustomJoystick(Port.HumanInput.joystick);
 
+        Component.intakeDrawbridgeSolenoid = new SolenoidSubsystem("Intake Drawbridge Solenoid", false, SolenoidState.RETRACT, Port.Pneumatics.DRAWBRIDGE_INTAKE_SOLENOID.buildDoubleSolenoid());
+        Component.intakeAxleMotor = new Motor("Intake Motor", false, new CANTalonFX(Port.CANMotor.AXLE_INTAKE_MOTOR)); //TODO: check if CANTalonFX or SRX
+        Component.intakeSecondaryMotor = new Motor("Intake Secondary Motor", false, new CANTalonFX(Port.CANMotor.SECONDARY_INTAKE_MOTOR)); //TODO: check if CANTalonFX or SRX
+
     }
 }

src/main/java/org/usfirst/frc4904/robot/commands/intake/AxleIntakeOff.java

@@ -0,0 +1,13 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
+
+/**
+ * Stops rotating axle
+ */
+public class AxleIntakeOff extends MotorIdle {
+    public AxleIntakeOff() {
+        super("axleIntakeOff", RobotMap.Component.intakeAxleMotor);
+    }
+}

src/main/java/org/usfirst/frc4904/robot/commands/intake/AxleIntakeOn.java

@@ -0,0 +1,14 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+
+/**
+ * Rotates the axle to intake the ball
+ */
+public class AxleIntakeOn extends MotorConstant {
+    public final static double DEFAULT_INTAKE_MOTOR_SPEED = 0.5; //TODO: needs value
+    public AxleIntakeOn() {
+        super("axleIntakeOn", RobotMap.Component.intakeAxleMotor, DEFAULT_INTAKE_MOTOR_SPEED);
+    }
+}

src/main/java/org/usfirst/frc4904/robot/commands/intake/ExtendIntake.java

@@ -0,0 +1,13 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.solenoid.SolenoidExtend;
+
+/**
+ * Extends the drawbridge which has the intake mechanism attached to it.
+ */
+public class ExtendIntake extends SolenoidExtend {
+    public ExtendIntake() {
+        super("extendIntakeDrawbridge", RobotMap.Component.intakeDrawbridgeSolenoid);
+    }
+}

src/main/java/org/usfirst/frc4904/robot/commands/intake/RetractIntake.java

@@ -0,0 +1,13 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.solenoid.SolenoidRetract;
+
+/**
+ * Retracts the drawbridge which has the intake mechanism attached to it.
+ */
+public class RetractIntake extends SolenoidRetract {
+    public RetractIntake() {
+        super("retractIntakeDrawbridge", RobotMap.Component.intakeDrawbridgeSolenoid);
+    }
+}

src/main/java/org/usfirst/frc4904/robot/commands/intake/SecondaryIntakeOff.java

@@ -0,0 +1,13 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorIdle;
+
+/**
+ * Stops rotating motor
+ */
+public class SecondaryIntakeOff extends MotorIdle {
+    public SecondaryIntakeOff() {
+        super("secondaryIntakeOff", RobotMap.Component.intakeSecondaryMotor);
+    }
+}

src/main/java/org/usfirst/frc4904/robot/commands/intake/SecondaryIntakeOn.java

@@ -0,0 +1,14 @@
+package org.usfirst.frc4904.robot.commands.intake;
+
+import org.usfirst.frc4904.robot.RobotMap;
+import org.usfirst.frc4904.standard.commands.motor.MotorConstant;
+
+/**
+ * Rotates the motor to intake the ball
+ */
+public class SecondaryIntakeOn extends MotorConstant {
+    public final static double DEFAULT_INTAKE_MOTOR_SPEED = 0.5; //TODO: needs value
+    public SecondaryIntakeOn() {
+        super("SecondaryIntakeOn", RobotMap.Component.intakeSecondaryMotor, DEFAULT_INTAKE_MOTOR_SPEED);
+    }
+}