Compensations for hardware testing

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

@@ -12,10 +12,10 @@
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.buttons.JoystickButton;
-import frc.robot.commands.arm.Brake;
 import frc.robot.commands.climb.Shift;
 import frc.robot.commands.hatch.ExtendHatchManipulator;
 import frc.robot.commands.hatch.RetractHatchManipulator;
+import frc.robot.commands.hatch.SetHatchExtender;
 
 public class OI {
 
@@ -26,8 +26,8 @@ public class OI {
 
     private JoystickButton extendHatchManipulatorButton;
     private JoystickButton retractHatchManipulatorButton;
-    private JoystickButton diskBrakeEngage;
-    private JoystickButton diskBrakeDisengage;
+    private JoystickButton extendHatcher;
+    private JoystickButton retractHatcher;
 
     private JoystickButton engageButton;
     private JoystickButton disengageButton;
@@ -38,14 +38,14 @@ private OI() {
         xbox = new XboxController(RobotMap.OI.XBOX);
 
         // Xbox binds
-        extendHatchManipulatorButton = new JoystickButton(xbox, RobotMap.OI.EXTEND_HATCH_MANIPULATOR_BUTTON);
-        retractHatchManipulatorButton = new JoystickButton(xbox, RobotMap.OI.RETRACT_HATCH_MANIPULATOR_BUTTON);
-        diskBrakeEngage = new JoystickButton(xbox, RobotMap.OI.ENGAGE_DISK_BRAKE);
-        diskBrakeDisengage = new JoystickButton(xbox, RobotMap.OI.DISENGAGE_DISK_BRAKE);
-        diskBrakeEngage.whenPressed(new Brake(true));
-        diskBrakeDisengage.whenPressed(new Brake(false));
+        extendHatchManipulatorButton = new JoystickButton(xbox, RobotMap.OI.EJECT_HATCH);
+        retractHatchManipulatorButton = new JoystickButton(xbox, RobotMap.OI.RESET_EJECTOR);
+        extendHatcher = new JoystickButton(xbox, RobotMap.OI.EXTEND_HATCHER);
+        retractHatcher = new JoystickButton(xbox, RobotMap.OI.RETRACT_HATCHER);
         extendHatchManipulatorButton.whenPressed(new ExtendHatchManipulator());
         retractHatchManipulatorButton.whenPressed(new RetractHatchManipulator());
+        extendHatcher.whenPressed(new SetHatchExtender(true));
+        retractHatcher.whenPressed(new SetHatchExtender(false));
         // Driver joystick binds
         disengageButton = new JoystickButton(leftFlight, RobotMap.OI.SHIFT_DISENGAGE_BUTTON);
         engageButton = new JoystickButton(leftFlight, RobotMap.OI.SHIFT_ENGAGE_BUTTON);

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

@@ -25,7 +25,7 @@ public class RobotMap {
     // public static final int rangefinderModule = 1;
 
     public class DRIVETRAIN {
-        public static final int LEFT_MASTER_CHANNEL = 0;
+        public static final int LEFT_MASTER_CHANNEL = 17;
         public static final int LEFT_FOLLOWER_ONE_CHANNEL = 1;
         public static final int LEFT_FOLLOWER_TWO_CHANNEL = 2;
         public static final int RIGHT_MASTER_CHANNEL = 13;
@@ -55,6 +55,8 @@ public class HATCH_MANIPULATOR {
 
         public static final int CENTER_FORWARD_CHANNEL = 5;
         public static final int CENTER_REVERSE_CHANNEL = 6;
+
+        public static final int EXTENDER = 7;
     }
 
     public class CARGO_MANIPULATOR {
@@ -73,10 +75,10 @@ public class OI {
         public static final int SHIFT_ENGAGE_BUTTON = 5;
         public static final int SHIFT_DISENGAGE_BUTTON = 11;
 
-        public static final int ENGAGE_DISK_BRAKE = 1; // A
-        public static final int DISENGAGE_DISK_BRAKE = 2; // B
-        public static final int EXTEND_HATCH_MANIPULATOR_BUTTON = 3; // X
-        public static final int RETRACT_HATCH_MANIPULATOR_BUTTON = 4; // Y
+        public static final int EXTEND_HATCHER = 1; // A
+        public static final int RETRACT_HATCHER = 2; // B
+        public static final int EJECT_HATCH = 3; // X
+        public static final int RESET_EJECTOR = 4; // Y
     }
 
     public static final int PRESSURE_SENSOR_PORT = 0;

src/main/java/frc/robot/commands/arm/TwistArm.java

@@ -14,12 +14,15 @@ public TwistArm() {
     protected void execute() {
         boolean lBump = OI.getInstance().getXboxLeftBumper();
         boolean rBump = OI.getInstance().getXboxRightBumper();
-        if (rBump) {
-            CargoManipulatorArm.getInstance().lift(0.5);
-        } else if (lBump) {
-            CargoManipulatorArm.getInstance().lift(-0.5);
+        if (lBump) {
+            CargoManipulatorArm.getInstance().setBrake(true);
+            CargoManipulatorArm.getInstance().lift(0.75);
+        } else if (rBump) {
+            CargoManipulatorArm.getInstance().setBrake(true);
+            CargoManipulatorArm.getInstance().lift(-0.20);
         } else {
             CargoManipulatorArm.getInstance().lift(0);
+            CargoManipulatorArm.getInstance().setBrake(false);
         }
     }
 

src/main/java/frc/robot/commands/hatch/SetHatchExtender.java

@@ -0,0 +1,24 @@
+package frc.robot.commands.hatch;
+
+import edu.wpi.first.wpilibj.command.Command;
+import frc.robot.subsystems.HatchManipulator;
+
+public class SetHatchExtender extends Command {
+
+    private boolean extended;
+
+    public SetHatchExtender(boolean e) {
+        requires(HatchManipulator.getInstance());
+        this.extended = e;
+    }
+
+    @Override
+    protected void execute() {
+        HatchManipulator.getInstance().setExtended(extended);
+    }
+
+    @Override
+    protected boolean isFinished() {
+        return true;
+    }
+}

src/main/java/frc/robot/sensors/PressureSensor.java

@@ -21,13 +21,12 @@ private double getVoltageOut() {
     }
 
     /**
-     * Return the pressure, in PSI. Has a tolerance of 1.5% according to REV.
+     * Return the pressure, in PSI. This function was made by a really confident linear regression.
      *
      * @return Measured pressure, in PSI.
-     * @see "http://www.revrobotics.com/content/docs/REV-11-1107-DS.pdf"
      */
     public double getPressure() {
-        return (250 * (this.getVoltageOut() / VCC)) - 25;
+        return 31.8 * this.getVoltageOut() - 8.07;
     }
 
     public static PressureSensor getInstance() {

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

@@ -1,13 +1,15 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.command.Subsystem;
 import frc.robot.RobotMap;
 
 public class HatchManipulator extends Subsystem {
     private static final HatchManipulator INSTANCE = new HatchManipulator();
     private DoubleSolenoid pusher;
     private DoubleSolenoid centerRod;
+    private Solenoid extender;
     // Put methods for controlling this subsystem
     // here. Call these from Commands.
 
@@ -21,6 +23,8 @@ private HatchManipulator() {
 
         this.centerRod = new DoubleSolenoid(RobotMap.HATCH_MANIPULATOR.CENTER_FORWARD_CHANNEL, RobotMap.HATCH_MANIPULATOR.CENTER_REVERSE_CHANNEL);
         this.centerRod.set(DoubleSolenoid.Value.kReverse);
+
+        extender = new Solenoid(RobotMap.HATCH_MANIPULATOR.EXTENDER);
     }
 
     public void ejectHatch() {
@@ -31,6 +35,10 @@ public void retractPusher() {
         this.pusher.set(DoubleSolenoid.Value.kReverse);
     }
 
+    public void setExtended(boolean extended) {
+        this.extender.set(extended);
+    }
+
     public void initDefaultCommand() {
         // TODO: Set the default command, if any, for a subsystem here. Example:
         //    setDefaultCommand(new MySpecialCommand());