Chief Delphi - Pneumatics Coding

Here's some code to run a spike relay to control your compressor, and it uses a pressure sensor to turn it off.

Code:

/*

 * To change this template, choose Tools | Templates

 * and open the template in the editor.

 */

package edu.wpi.first.wpilibj.templates.commands;



import edu.wpi.first.wpilibj.Relay;

import edu.wpi.first.wpilibj.RobotBase;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

import edu.wpi.first.wpilibj.templates.RobotTemplate;



/**

 *

 */

public class ManualRunSpikes extends CommandBase {

    Relay ms1 = compressor.compressorOne();

    boolean thatBoolean = false;

    boolean isFlipped;

    

    public ManualRunSpikes() {

        // Use requires() here to declare subsystem dependencies

        // eg. requires(chassis);

        requires(compressor);

    }



    // Called just before this Command runs the first time

    protected void initialize() {

    }



    // Called repeatedly when this Command is scheduled to run

    protected void execute() {

        if (oi.getB() == false) {

            isFlipped = false;

        }

        

        if (oi.getB() == true & isFlipped == false) {

            thatBoolean = !thatBoolean;

            isFlipped = true;

        }

        

        if (compressor.getCompressorSwitch() == false & thatBoolean == true) {

            ms1.set(Relay.Value.kForward);

        }

        

        if (compressor.getCompressorSwitch() == false & thatBoolean == false) {

            ms1.set(Relay.Value.kOff);

        }

        

        if (compressor.getCompressorSwitch() == true) {

            ms1.set(Relay.Value.kOff);

        }

        

        SmartDashboard.putBoolean("asdf", thatBoolean);

        SmartDashboard.putBoolean("switch", compressor.getCompressorSwitch());

    }



    // Make this return true when this Command no longer needs to run execute()

    protected boolean isFinished() {

        return false;

    }



    // Called once after isFinished returns true

    protected void end() {

            ms1.set(Relay.Value.kOff);

            thatBoolean = false;

    }



    // Called when another command which requires one or more of the same

    // subsystems is scheduled to run

    protected void interrupted() {

            ms1.set(Relay.Value.kOff);

    }

}

Here is our compressor subsystem:

Code:

/*

 * To change this template, choose Tools | Templates

 * and open the template in the editor.

 */

package edu.wpi.first.wpilibj.templates.subsystems;



import edu.wpi.first.wpilibj.DigitalInput;

import edu.wpi.first.wpilibj.Relay;

import edu.wpi.first.wpilibj.command.Subsystem;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;

import edu.wpi.first.wpilibj.templates.commands.ManualRunSpikes;

import edu.wpi.first.wpilibj.templates.commands.RunSpikes;



/**

 *

 */

public class Compressor extends Subsystem {

    // Put methods for controlling this subsystem

    // here. Call these from Commands.

    Relay s1 = new Relay(1);

    DigitalInput comSwitch = new DigitalInput(1);



    public void initDefaultCommand() {

        // Set the default command for a subsystem here.

        //setDefaultCommand(new RunSpikes());

        setDefaultCommand(new ManualRunSpikes());

    }

    

    public Relay compressorOne() {

        return s1;

    }

    

    public boolean getCompressorSwitch() {

        return comSwitch.get(); 

    }

}

You use Solenoids to control pneumatic cylinders, and here is some code for them:

Code:

/*

 * To change this license header, choose License Headers in Project Properties.

 * To change this template file, choose Tools | Templates

 * and open the template in the editor.

 */

package edu.wpi.first.wpilibj.templates.subsystems;



import edu.wpi.first.wpilibj.Solenoid;

import edu.wpi.first.wpilibj.Talon;

import edu.wpi.first.wpilibj.command.Subsystem;

import edu.wpi.first.wpilibj.templates.RobotMap;





/**

 *

 */

public class Intake extends Subsystem {

    // Put methods for controlling this subsystem

    // here. Call these from Commands.

    

    

    Solenoid shoe = new Solenoid(1, RobotMap.sole); // creates Solenoid

    Solenoid spirit = new Solenoid(1, RobotMap.soul); // creates Solenoid





    public void initDefaultCommand() {

        // Set the default command for a subsystem here.

        //setDefaultCommand(new MySpecialCommand());

    }

    

    

    public void push () {

        shoe.set(true);

        spirit.set(false);

    }

    

    public void pull () {

        shoe.set(false);

        spirit.set(true);

    }

    



}

Hopefully that isn't too confusing, feel free to ask if you need any more help.