I'm new to command based robot programming with Java and for some reason I can't get the Joystick buttons to control my solenoid for my drive shifter.
It appears as though it's not even accepting Button input, but I'm not positive. I want Joystick Button A to enable the one side of DoubleSolenoid then another button to enable side 2 of DoubleSolenoid.
I'm thinking my initialization of my button is wrong or something?
OI CODE
Code:
package org.usfirst.frc.team869.robot;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.buttons.JoystickButton;
import edu.wpi.first.wpilibj.buttons.Button;
import org.usfirst.frc.team869.robot.commands.shiftDriveSpeed;
import org.usfirst.frc.team869.robot.commands.*;
//import edu.wpi.first.wpilibj.vision.USBCamera;
import edu.wpi.first.wpilibj.CameraServer;
/**
* This class is the glue that binds the controls on the physical operator
* interface to the commands and command groups that allow control of the robot.
*/
public class OI {
//// CREATING BUTTONS
// One type of button is a joystick button which is any button on a joystick.
// You create one by telling it which joystick it's on and which button
// number it is.
// Joystick stick = new Joystick(port);
// Button button = new JoystickButton(stick, buttonNumber);
public static Joystick driverController = new Joystick(RobotMap.driverControllerID);
public static Joystick operatorController = new Joystick(RobotMap.operatorControllerID);
public static JoystickButton joystickButtonA = new JoystickButton(driverController, RobotMap.logitechControllerAbutton);
//static shiftDriveSpeed shiftHigh = new shiftDriveSpeed();
public static void init() {
joystickButtonA.whenPressed(new shiftDriveSpeed());
//new JoystickButton(driverController, RobotMap.logitechControllerYbutton).whenPressed(new driveShift(RobotMap.logitechControllerYbutton));
}
//public static USBCamera microSoftCam = new USBCamera("cam0");
/*shiftHighSpeed.whenPressed(new driveShift());
shiftHighSpeed.whenPressed(new driveShift(RobotMap.driveHighSpeed));
shiftHighTorque.whenPressed(new driveShift(RobotMap.driveHighTorque));*/
public static double getLeftDriveSpeed(){
return driverController.getRawAxis(RobotMap.logitechControllerLYAxis);
}
public static double getRightDriveSpeed(){
return driverController.getRawAxis(RobotMap.logitechControllerRYAxis);
}
// There are a few additional built in buttons you can use. Additionally,
// by subclassing Button you can create custom triggers and bind those to
// commands the same as any other Button.
//// TRIGGERING COMMANDS WITH BUTTONS
// Once you have a button, it's trivial to bind it to a button in one of
// three ways:
// Start the command when the button is pressed and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenPressed(new ExampleCommand());
// Run the command while the button is being held down and interrupt it once
// the button is released.
// button.whileHeld(new ExampleCommand());
// Start the command when the button is released and let it run the command
// until it is finished as determined by it's isFinished method.
// button.whenReleased(new ExampleCommand());
}
shiftDriveSpeed Command:
Code:
package org.usfirst.frc.team869.robot.commands;
import edu.wpi.first.wpilibj.command.Command;
import org.usfirst.frc.team869.robot.subsystems.driveShifter;
/**
*
*/
public class shiftDriveSpeed extends Command {
driveShifter DriveShifter;
public shiftDriveSpeed() {
// Use requires() here to declare subsystem dependencies
// eg. requires(chassis);
requires(DriveShifter);
}
// Called just before this Command runs the first time
protected void initialize() {
}
// Called repeatedly when this Command is scheduled to run
protected void execute() {
DriveShifter.shiftHighSpeed();
}
// 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() {
}
// Called when another command which requires one or more of the same
// subsystems is scheduled to run
protected void interrupted() {
}
}
driveShifter Subsystem
Code:
package org.usfirst.frc.team869.robot.subsystems;
import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.DoubleSolenoid;
/**
*
*/
public class driveShifter extends Subsystem {
DoubleSolenoid speedSolenoid = new DoubleSolenoid (0,0,1);
// Put methods for controlling this subsystem
// here. Call these from Commands.
public void initDefaultCommand() {
// Set the default command for a subsystem here.
//setDefaultCommand(new MySpecialCommand());
}
public void shiftHighSpeed(){
speedSolenoid.set(DoubleSolenoid.Value.kForward);
System.out.print("HighSpeed Shift");
}
public void shiftHighTorque(){
speedSolenoid.set(DoubleSolenoid.Value.kReverse);
}
}
Robot class
Code:
package org.usfirst.frc.team869.robot;
import edu.wpi.first.wpilibj.IterativeRobot;
import edu.wpi.first.wpilibj.command.Command;
import edu.wpi.first.wpilibj.command.Scheduler;
import edu.wpi.first.wpilibj.livewindow.LiveWindow;
import org.usfirst.frc.team869.robot.commands.ExampleCommand;
import org.usfirst.frc.team869.robot.commands.driveWithJoysticks;
import org.usfirst.frc.team869.robot.subsystems.ExampleSubsystem;
import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import org.usfirst.frc.team869.robot.subsystems.*;
/**
* The VM is configured to automatically run this class, and to call the
* functions corresponding to each mode, as described in the IterativeRobot
* documentation. If you change the name of this class or the package after
* creating this project, you must also update the manifest file in the resource
* directory.
*/
public class Robot extends IterativeRobot {
public static final ExampleSubsystem exampleSubsystem = new ExampleSubsystem();
public static final driveTrain DriveTrain = new driveTrain();
public static final driveWithJoysticks driveWithJoysticks = new driveWithJoysticks();
public static final camera cameraSystem = new camera();
public static OI oi;
Command autonomousCommand;
SendableChooser chooser;
/**
* This function is run when the robot is first started up and should be
* used for any initialization code.
*/
public void robotInit() {
oi = new OI();
//chooser = new SendableChooser();
//chooser.addDefault("Default Auto", new ExampleCommand());
// chooser.addObject("My Auto", new MyAutoCommand());
//SmartDashboard.putData("Auto mode", chooser);
}
/**
* This function is called once each time the robot enters Disabled mode.
* You can use it to reset any subsystem information you want to clear when
* the robot is disabled.
*/
public void disabledInit(){
}
public void disabledPeriodic() {
Scheduler.getInstance().run();
}
/**
* This autonomous (along with the chooser code above) shows how to select between different autonomous modes
* using the dashboard. The sendable chooser code works with the Java SmartDashboard. If you prefer the LabVIEW
* Dashboard, remove all of the chooser code and uncomment the getString code to get the auto name from the text box
* below the Gyro
*
* You can add additional auto modes by adding additional commands to the chooser code above (like the commented example)
* or additional comparisons to the switch structure below with additional strings & commands.
*/
public void autonomousInit() {
autonomousCommand = (Command) chooser.getSelected();
/* String autoSelected = SmartDashboard.getString("Auto Selector", "Default");
switch(autoSelected) {
case "My Auto":
autonomousCommand = new MyAutoCommand();
break;
case "Default Auto":
default:
autonomousCommand = new ExampleCommand();
break;
} */
// schedule the autonomous command (example)
if (autonomousCommand != null) autonomousCommand.start();
}
/**
* This function is called periodically during autonomous
*/
public void autonomousPeriodic() {
Scheduler.getInstance().run();
}
public void teleopInit() {
// This makes sure that the autonomous stops running when
// teleop starts running. If you want the autonomous to
// continue until interrupted by another command, remove
// this line or comment it out.
if (autonomousCommand != null) autonomousCommand.cancel();
}
/**
* This function is called periodically during operator control
*/
public void teleopPeriodic() {
Scheduler.getInstance().run();
//System.out.print(Scheduler.getInstance());
}
/**
* This function is called periodically during test mode
*/
public void testPeriodic() {
LiveWindow.run();
}
}