Merge pull request strongback#31 from Team3132/ballDetection

Change the source for the beam breaks.
Team3132 · Feb 29, 2020 · 69b8e1c · 69b8e1c
2 parents 92a286b + b33843c
commit 69b8e1c
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Showing 2 changed files with 10 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -137,9 +137,11 @@ private Constants() {
 	*/
 	public static final int LOADER_SPINNER_MOTOR_CAN_ID = 12;
 	public static final int LOADER_PASSTHROUGH_MOTOR_CAN_ID = 11;
+	public static final int IN_BALL_DETECTOR_DIO_PORT = 0;
+	public static final int OUT_BALL_DETECTOR_DIO_PORT = 1;
+	public static final int PADDLE_SOLENOID_PORT = 2; 
 	public static final double LOADER_MOTOR_RPM = 600;
 	public static final double PASSTHROUGH_MOTOR_CURRENT = 1.0;
-	public static final int PADDLE_SOLENOID_PORT = 2; 
 	public static final double LOADER_MAIN_MOTOR_SCALE = 4096/10; // ticks per rotation
 	public static final double LOADER_SPINNER_P = 0.4;
 	public static final double LOADER_SPINNER_I = 0;

diff --git a/src/main/java/frc/robot/subsystems/Subsystems.java b/src/main/java/frc/robot/subsystems/Subsystems.java
@@ -21,6 +21,7 @@
 import org.strongback.hardware.Hardware;
 import org.strongback.mock.Mock;
 
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.I2C;
 
 import frc.robot.Constants;
@@ -453,11 +454,14 @@ public void createLoader() {
 		}
 
 		Motor spinnerMotor = MotorFactory.getLoaderSpinnerMotor(config.loaderSpinnerCanID, false, Constants.LOADER_SPINNER_P, Constants.LOADER_SPINNER_I, Constants.LOADER_SPINNER_D, Constants.LOADER_SPINNER_F, log);
-		//TODO: replace with appropriate subsystem PIDF values.
+		// TODO: replace with appropriate subsystem PIDF values.
 		Motor loaderPassthroughMotor = MotorFactory.getLoaderPassthroughMotor(config.loaderPassthroughCanID, false, 0, 0, 0, 0, log); 
 		Solenoid paddleSolenoid = Hardware.Solenoids.singleSolenoid(config.pcmCanId, Constants.PADDLE_SOLENOID_PORT, 0.1, 0.1);
-		BooleanSupplier loaderInSensor = () -> spinnerMotor.isAtForwardLimit();
-		BooleanSupplier loaderOutSensor = () -> spinnerMotor.isAtReverseLimit(); 
+		// The ball sensors are connected to the DIO ports on the rio.
+		DigitalInput inBallSensor = new DigitalInput(Constants.IN_BALL_DETECTOR_DIO_PORT);
+		DigitalInput outBallSensor = new DigitalInput(Constants.OUT_BALL_DETECTOR_DIO_PORT);
+		BooleanSupplier loaderInSensor = () -> inBallSensor.get();
+		BooleanSupplier loaderOutSensor = () -> outBallSensor.get(); 
 		loader = new Loader(spinnerMotor, loaderPassthroughMotor, paddleSolenoid, loaderInSensor, loaderOutSensor, ledStrip, dashboard, log);
 		Strongback.executor().register(loader, Priority.LOW);