Merge pull request #59 from frc4911/armsolenoid

Added pnuematic control to Arm subsystem

src/main/java/com/cyberknights4911/robot2024/arm/Arm.java

@@ -51,6 +51,14 @@ public void setVoltage(double volts) {
     armIO.setVoltage(volts);
   }
 
+  public void setCollectorAngle(CollectorAngle angle) {
+    if (angle == CollectorAngle.EIGHTY) {
+      armIO.setSolenoidState(true);
+    } else if (angle == CollectorAngle.FORTY_FIVE) {
+      armIO.setSolenoidState(false);
+    }
+  }
+
   @Override
   public void periodic() {
     armIO.updateInputs(inputs);

src/main/java/com/cyberknights4911/robot2024/arm/ArmIO.java

@@ -22,6 +22,8 @@ public static class ArmIOInputs {
   /** Updates the set of loggable inputs. */
   public default void updateInputs(ArmIOInputs inputs) {}
 
+  public default void setSolenoidState(boolean state) {}
+
   /** Run the motor at the specified voltage. */
   public default void setVoltage(double volts) {}
 

src/main/java/com/cyberknights4911/robot2024/arm/ArmIOReal.java

@@ -14,19 +14,22 @@
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.SparkPIDController;
 import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.Solenoid;
 
 public final class ArmIOReal implements ArmIO {
   private final CANSparkFlex left;
   private final CANSparkFlex right;
-
+  private final Solenoid armSolenoid;
   private final RelativeEncoder encoder;
   private final SparkPIDController pidController;
   private final double gearRatio;
 
   public ArmIOReal(ArmConstants armConstants) {
     left = new CANSparkFlex(armConstants.motorId1(), MotorType.kBrushless);
     right = new CANSparkFlex(armConstants.motorId2(), MotorType.kBrushless);
-
+    // TODO verify module type
+    armSolenoid = new Solenoid(PneumaticsModuleType.REVPH, armConstants.solenoidId());
     encoder = right.getEncoder();
     pidController = right.getPIDController();
     gearRatio = armConstants.gearRatio();
@@ -42,6 +45,12 @@ public void updateInputs(ArmIOInputs inputs) {
     // TODO: read solenoid state and write to inputs
     inputs.appliedVolts = right.getAppliedOutput() * right.getBusVoltage();
     inputs.currentAmps = new double[] {right.getOutputCurrent(), left.getOutputCurrent()};
+    inputs.solenoidState = armSolenoid.get();
+  }
+
+  @Override
+  public void setSolenoidState(boolean state) {
+    armSolenoid.set(state);
   }
 
   @Override

src/main/java/com/cyberknights4911/robot2024/arm/CollectorAngle.java

@@ -0,0 +1,13 @@
+// Copyright (c) 2023 FRC 4911
+// https://github.com/frc4911
+//
+// Use of this source code is governed by an MIT-style
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package com.cyberknights4911.robot2024.arm;
+
+public enum CollectorAngle {
+  FORTY_FIVE,
+  EIGHTY
+}