Merge pull request #10 from BHSSFRC/feature/climber

Basic climber subsystem

src/main/java/frc/robot/OI.java

@@ -8,6 +8,8 @@
 package frc.robot;
 
 import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.buttons.JoystickButton;
+import frc.robot.commands.climb.Shift;
 
 /**
  * This class is the glue that binds the controls on the physical operator
@@ -47,10 +49,18 @@ public class OI {
     private Joystick leftFlight;
     private Joystick rightFlight;
 
+    private JoystickButton engageButton;
+    private JoystickButton disengageButton;
+
     private OI() {
         // construct joysticks, buttons here and bind buttons to actions
         leftFlight = new Joystick(RobotMap.LEFT_JOY);
         rightFlight = new Joystick(RobotMap.RIGHT_JOY);
+
+        engageButton = new JoystickButton(leftFlight, RobotMap.SHIFT_ENGAGE_BUTTON);
+        engageButton.whenPressed(new Shift(true));
+        disengageButton = new JoystickButton(leftFlight, RobotMap.SHIFT_DISENGAGE_BUTTON);
+        disengageButton.whenPressed(new Shift(false));
     }
 
     public double removeDeadband(double y) {

src/main/java/frc/robot/RobotMap.java

@@ -38,8 +38,15 @@ public class DRIVETRAIN {
     }
     //gear ratio is 7.58:12:15
 
+    public class CLIMBER {
+        public static final int SHIFTER_CHANNEL = 0;
+    }
+
     public static final int LEFT_JOY = 0;
     public static final int RIGHT_JOY = 1;
 
+    public static final int SHIFT_ENGAGE_BUTTON = 5;
+    public static final int SHIFT_DISENGAGE_BUTTON = 11;
+
     public static final int PRESSURE_SENSOR_PORT = 0;
 }

src/main/java/frc/robot/commands/climb/Shift.java

@@ -0,0 +1,27 @@
+package frc.robot.commands.climb;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.subsystems.Climber;
+
+/**
+ * Command to shift the climber in or out.
+ */
+public class Shift extends Command {
+
+    private boolean value;
+
+    public Shift(boolean engaged) {
+        requires(Climber.getInstance());
+        this.value = engaged;
+    }
+
+    @Override
+    protected void execute() {
+        Climber.getInstance().setShifter(this.value);
+    }
+
+    @Override
+    protected boolean isFinished() {
+        return true;
+    }
+}

src/main/java/frc/robot/commands/drive/Drive.java

@@ -2,6 +2,7 @@
 
 import edu.wpi.first.wpilibj.command.Command;
 import frc.robot.OI;
+import frc.robot.subsystems.Climber;
 import frc.robot.subsystems.Drivetrain;
 
 public class Drive extends Command {
@@ -15,7 +16,11 @@ protected void execute() {
         double left = OI.getInstance().getLeftY();
         double right = OI.getInstance().getRightY();
 
-        Drivetrain.getInstance().tankDrive(left, right);
+        if (!Climber.getInstance().isEngaged()) {
+            Drivetrain.getInstance().tankDrive(left, right);
+        } else {
+            Drivetrain.getInstance().tankDrive(left, left);
+        }
     }
 
     @Override

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

@@ -0,0 +1,37 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.Solenoid;
+import edu.wpi.first.wpilibj.command.Subsystem;
+import frc.robot.RobotMap;
+
+public class Climber extends Subsystem {
+
+    private Solenoid shifter;
+
+    private static Climber INSTANCE = new Climber();
+
+    private Climber() {
+        this.shifter = new Solenoid(RobotMap.CLIMBER.SHIFTER_CHANNEL);
+    }
+
+    public void setShifter(boolean engaged) {
+        this.shifter.set(engaged);
+    }
+
+    public boolean isEngaged() {
+        return this.shifter.get();
+    }
+
+    public static Climber getInstance() {
+        return INSTANCE;
+    }
+
+    @Override
+    protected void initDefaultCommand() {
+    }
+
+    @Override
+    protected Object clone() throws CloneNotSupportedException {
+        throw new CloneNotSupportedException();
+    }
+}