Merge pull request #6 from FRCTeam4069/mechanisms

Mechanisms

src/main/java/frc/robot/RobotContainer.java

@@ -4,19 +4,28 @@
 
 package frc.robot;
 
+import com.revrobotics.spark.SparkFlex;
+
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.subsystems.TestSubsystem;
 
+// adding a comment for testing
 /**
- * This class is where the bulk of the robot should be declared. Since Command-based is a
- * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
+ * This class is where the bulk of the robot should be declared. Since
+ * Command-based is a
+ * "declarative" paradigm, very little robot logic should actually be handled in
+ * the {@link Robot}
+ * periodic methods (other than the scheduler calls). Instead, the structure of
+ * the robot (including
  * subsystems, commands, and trigger mappings) should be declared here.
  */
 public class RobotContainer {
+
     // The robot's subsystems and commands are defined here...
 
+
     // Replace with CommandPS4Controller or CommandJoystick if needed
     private final CommandXboxController controller0 = new CommandXboxController(0);
     private final CommandXboxController controller1 = new CommandXboxController(1);
@@ -26,7 +35,7 @@ public RobotContainer() {
         // Configure the trigger bindings
         configureBindings();
     }
-
+    
     /**
      * Use this method to define your trigger->command mappings. Triggers can be created via the
      * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
@@ -53,3 +62,4 @@ public Command getAutonomousCommand() {
     }
     */
 }
+

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

@@ -0,0 +1,48 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.TestSubsystem;
+
+/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
+public class TestCommand extends Command {
+
+  TestSubsystem testSubsystem;
+
+  /** Creates a new TestCommand. */
+  public TestCommand(TestSubsystem testSubsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+
+    this.testSubsystem = testSubsystem;
+
+    addRequirements(testSubsystem);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+
+    testSubsystem.setPower(0.5);
+
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return Math.abs(testSubsystem.getPosition()) > 5000;
+
+  }
+}

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

@@ -0,0 +1,38 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems;
+
+import com.revrobotics.spark.SparkFlex;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class TestSubsystem extends SubsystemBase {
+
+    SparkFlex motor;
+
+    /** Creates a new TestSubsystem. */
+    public TestSubsystem() {
+
+        motor = new SparkFlex(0, SparkFlex.MotorType.kBrushless);
+
+    }
+
+    public void setPower(double power) {
+        motor.set(power);
+    }
+
+    public double getPosition() {
+        // read encoder
+        return motor.getEncoder().getPosition();
+    }
+
+    public void stop() {
+        motor.stopMotor();
+    }
+
+    @Override
+    public void periodic() {
+        // This method will be called once per scheduler run
+    }
+}