Arm skeleton

src/main/java/org/sciborgs1155/robot/arm/Arm.java

@@ -0,0 +1,86 @@
+package org.sciborgs1155.robot.arm;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import monologue.Annotations.Log;
+import monologue.Logged;
+import org.sciborgs1155.robot.Robot;
+
+/** Simple Arm subsystem used for climbing and intaking coral from the ground. */
+public class Arm extends SubsystemBase implements Logged, AutoCloseable {
+  /** Interface for interacting with the motor itself. */
+  @Log.NT private final ArmIO hardware;
+
+  /**
+   * Returns a new {@link Arm} subsystem, which will have real hardware if the robot is real, and
+   * simulated if it isn't.
+   */
+  public static Arm create() {
+    return new Arm(Robot.isReal() ? new RealArm() : new SimArm());
+  }
+
+  /** Creates a new {@link Arm} with no hardware interface(does nothing). */
+  public static Arm none() {
+    return new Arm(new NoArm());
+  }
+
+  /**
+   * Constructor.
+   *
+   * @param hardware : The ArmIO object (real/simulated/nonexistent) that will be operated on.
+   */
+  private Arm(ArmIO hardware) {
+    this.hardware = hardware;
+  }
+
+  /**
+   * @return The position in radians.
+   */
+  @Log.NT
+  public double position() {
+    return 0;
+  }
+
+  /**
+   * @return True if the arm's position is close enough to its goal, False if it isn't.
+   */
+  public boolean atGoal() {
+    return true;
+  }
+
+  /**
+   * @return The position in radians/sec.
+   */
+  @Log.NT
+  public double velocity() {
+    return 0;
+  }
+
+  @Log.NT
+  /** Moves the arm towards a specified goal angle. */
+  public Command goTo(Angle goal) {
+    return Commands.none();
+  }
+
+  /**
+   * Changes the current limit of the arm motor.
+   *
+   * @param limit The limit, in amps.
+   */
+  public void currentLimit(double limit) {}
+
+  public Command climbSetup() {
+    return Commands.none();
+  }
+
+  public Command climbExecute() {
+    return Commands.none();
+  }
+
+  @Override
+  public void close() throws Exception {
+    hardware.close();
+  }
+}

src/main/java/org/sciborgs1155/robot/arm/ArmConstants.java

@@ -0,0 +1,23 @@
+package org.sciborgs1155.robot.arm;
+
+import static edu.wpi.first.units.Units.Radians;
+
+import edu.wpi.first.units.measure.Angle;
+
+/** Constants for the {@link Arm} subsystem. */
+public class ArmConstants {
+  public static final Angle INTAKE_ANGLE = Radians.of(-Math.PI / 4);
+  public static final Angle PROCESSOR_OUTTAKE_ANGLE = Radians.of(Math.PI * 3 / 4);
+  public static final Angle TROUGH_OUTTAKE_ANGLE = Radians.of(Math.PI * 3 / 4);
+
+  public static final Angle STARTING_ANGLE = Radians.of(Math.PI / 2);
+  public static final Angle DEFAULT_ANGLE = Radians.of(Math.PI * 5 / 8);
+  public static final Angle CLIMB_INTAKE_ANGLE = Radians.of(0);
+  public static final Angle CLIMB_FINAL_ANGLE = Radians.of(Math.PI * 3 / 4);
+
+  /** Fully extended. */
+  public static final Angle MIN_ANGLE = Radians.of(-Math.PI / 4 - 0.2);
+
+  /** Fully retracted. */
+  public static final Angle MAX_ANGLE = Radians.of(Math.PI * 3 / 4 + 0.1);
+}

src/main/java/org/sciborgs1155/robot/arm/ArmIO.java

@@ -0,0 +1,24 @@
+package org.sciborgs1155.robot.arm;
+
+/** Hardware interface for {@link Arm} subsystem */
+public interface ArmIO extends AutoCloseable {
+  /**
+   * @return The position in radians.
+   */
+  public double position();
+
+  /**
+   * @return The position in radians/sec.
+   */
+  public double velocity();
+
+  /** Sets the voltage of the arm motor. */
+  public void setVoltage(double voltage);
+
+  /**
+   * Changes the current limit of the arm motor.
+   *
+   * @param limit The limit, in amps.
+   */
+  public void setCurrentLimit(double limit);
+}

src/main/java/org/sciborgs1155/robot/arm/NoArm.java

@@ -0,0 +1,23 @@
+package org.sciborgs1155.robot.arm;
+
+public class NoArm implements ArmIO {
+
+  @Override
+  public double position() {
+    return 0;
+  }
+
+  @Override
+  public double velocity() {
+    return 0;
+  }
+
+  @Override
+  public void setVoltage(double voltage) {}
+
+  @Override
+  public void setCurrentLimit(double limit) {}
+
+  @Override
+  public void close() throws Exception {}
+}

src/main/java/org/sciborgs1155/robot/arm/RealArm.java

@@ -0,0 +1,23 @@
+package org.sciborgs1155.robot.arm;
+
+public class RealArm implements ArmIO {
+
+  @Override
+  public double position() {
+    return 0;
+  }
+
+  @Override
+  public double velocity() {
+    return 0;
+  }
+
+  @Override
+  public void setVoltage(double voltage) {}
+
+  @Override
+  public void setCurrentLimit(double limit) {}
+
+  @Override
+  public void close() throws Exception {}
+}

src/main/java/org/sciborgs1155/robot/arm/SimArm.java

@@ -0,0 +1,23 @@
+package org.sciborgs1155.robot.arm;
+
+public class SimArm implements ArmIO {
+
+  @Override
+  public double position() {
+    return 0;
+  }
+
+  @Override
+  public double velocity() {
+    return 0;
+  }
+
+  @Override
+  public void setVoltage(double voltage) {}
+
+  @Override
+  public void setCurrentLimit(double limit) {}
+
+  @Override
+  public void close() throws Exception {}
+}