Merge pull request #21 from LakotaRobotics1038/10-acquire-all-sides-c…

…ommand-skeleton

Acquire all sides command skeleton complete

src/main/java/frc/robot/commands/AcquireCommand.java

@@ -0,0 +1,31 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Acquisition;
+
+public class AcquireCommand extends Command {
+    private static Acquisition acquisition = Acquisition.getInstance();
+
+    private double speed;
+
+    public AcquireCommand(double speed) {
+        addRequirements(acquisition);
+        this.speed = speed;
+    }
+
+    @Override
+    public void execute() {
+        acquisition.acquire(speed);
+    }
+
+    @Override
+    public boolean isFinished() {
+        // TODO: update with sensors
+        return false;
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        acquisition.stop();
+    }
+}

src/main/java/frc/robot/constants/AcquisitionConstants.java

@@ -1,8 +1,10 @@
 package frc.robot.constants;
 
 public class AcquisitionConstants {
-    public static final int rearMotorPort = -1;
-    public static final int frontMotorPort = -1;
+    public static final int motorPort = -1;
 
     public static final double motorSpeed = 0.0;
+    public static final double reverseMotorSpeed = 0.0;
+    public static final double maxMotorSpeed = 1;
+    public static final double minMotorSpeed = -1;
 }

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

@@ -4,25 +4,21 @@
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.AcquisitionConstants;
 
 public class Acquisition extends SubsystemBase {
     private static Acquisition instance;
 
-    private static CANSparkMax rearMotor = new CANSparkMax(AcquisitionConstants.frontMotorPort, MotorType.kBrushless);
-    private static CANSparkMax frontMotor = new CANSparkMax(AcquisitionConstants.frontMotorPort, MotorType.kBrushless);
+    private static CANSparkMax driveMotor = new CANSparkMax(AcquisitionConstants.motorPort, MotorType.kBrushless);
 
     private Acquisition() {
-        rearMotor.restoreFactoryDefaults();
-        frontMotor.restoreFactoryDefaults();
+        driveMotor.restoreFactoryDefaults();
 
-        rearMotor.setIdleMode(IdleMode.kBrake);
+        driveMotor.setIdleMode(IdleMode.kBrake);
 
-        rearMotor.follow(frontMotor);
-
-        rearMotor.burnFlash();
-        frontMotor.burnFlash();
+        driveMotor.burnFlash();
     }
 
     public static Acquisition getInstance() {
@@ -32,19 +28,16 @@ public static Acquisition getInstance() {
         return instance;
     }
 
-    public void runRear() {
-        rearMotor.set(AcquisitionConstants.motorSpeed);
-    }
-
-    public void runFront() {
-        frontMotor.set(AcquisitionConstants.motorSpeed);
+    public void acquire(double speed) {
+        speed = MathUtil.clamp(speed, AcquisitionConstants.minMotorSpeed, AcquisitionConstants.maxMotorSpeed);
+        driveMotor.set(speed);
     }
 
-    public void stopRear() {
-        rearMotor.stopMotor();
+    public void dispose() {
+        driveMotor.set(-AcquisitionConstants.motorSpeed);
     }
 
-    public void stopFront() {
-        frontMotor.stopMotor();
+    public void stop() {
+        driveMotor.stopMotor();
     }
 }