maybe im missing something but my compressor isn’t compressing when I enable. Here is my robot.java file:
// 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;
import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.TimedRobot;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.CommandScheduler;
/**
* The VM is configured to automatically run this class, and to call the functions corresponding to
* each mode, as described in the TimedRobot documentation. If you change the name of this class or
* the package after creating this project, you must also update the build.gradle file in the
* project.
*/
public class Robot extends TimedRobot {
private Command m_autonomousCommand;
private RobotContainer m_robotContainer;
private Compressor compressor;
;
/**
* This function is run when the robot is first started up and should be used for any
* initialization code.
*/
@Override
public void robotInit() {
// Instantiate our RobotContainer. This will perform all our button bindings, and put our
// autonomous chooser on the dashboard.
m_robotContainer = new RobotContainer();
compressor = new Compressor(0, PneumaticsModuleType.CTREPCM);
}
/**
* This function is called every robot packet, no matter the mode. Use this for items like
* diagnostics that you want ran during disabled, autonomous, teleoperated and test.
*
* <p>This runs after the mode specific periodic functions, but before LiveWindow and
* SmartDashboard integrated updating.
*/
@Override
public void robotPeriodic() {
// Runs the Scheduler. This is responsible for polling buttons, adding newly-scheduled
// commands, running already-scheduled commands, removing finished or interrupted commands,
// and running subsystem periodic() methods. This must be called from the robot's periodic
// block in order for anything in the Command-based framework to work.
CommandScheduler.getInstance().run();
}
/** This function is called once each time the robot enters Disabled mode. */
@Override
public void disabledInit() {
}
@Override
public void disabledPeriodic() {}
/** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
@Override
public void autonomousInit() {
m_autonomousCommand = m_robotContainer.getAutonomousCommand();
// schedule the autonomous command (example)
if (m_autonomousCommand != null) {
m_autonomousCommand.schedule();
}
}
/** This function is called periodically during autonomous. */
@Override
public void autonomousPeriodic() {}
@Override
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 (m_autonomousCommand != null) {
m_autonomousCommand.cancel();
}
compressor.enableDigital();
}
/** This function is called periodically during operator control. */
@Override
public void teleopPeriodic() {
}
@Override
public void testInit() {
// Cancels all running commands at the start of test mode.
CommandScheduler.getInstance().cancelAll();
}
/** This function is called periodically during test mode. */
@Override
public void testPeriodic() {}
}
as this is just a test for our pneumatics, we only have one subsystem and command:
package frc.robot.subsystems;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.PneumaticsModuleType;
import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class testPiston extends SubsystemBase {
DoubleSolenoid solenoid = new DoubleSolenoid(PneumaticsModuleType.CTREPCM, 4, 5);
public testPiston() {
}
public void setUp() {
solenoid.set(Value.kForward);
}
public void setDown() {
solenoid.set(Value.kReverse);
}
}
package frc.robot.commands;
import java.util.function.BooleanSupplier;
import edu.wpi.first.wpilibj2.command.CommandBase;
import frc.robot.subsystems.testPiston;
public class enablePiston extends CommandBase {
testPiston tPiston;
BooleanSupplier aB;
BooleanSupplier bB;
public enablePiston(testPiston t, BooleanSupplier a, BooleanSupplier b) {
tPiston = t;
aB = a;
bB = b;
addRequirements(tPiston);
}
@Override
public void initialize() {
}
@Override
public void execute() {
if (aB.getAsBoolean()) {
tPiston.setUp();
}
if (bB.getAsBoolean()) {
tPiston.setDown();
}
}
}
any help would be greatly appreciated!!!