Bindings

build.gradle

@@ -79,6 +79,7 @@ dependencies {
     // Junit testing
     testImplementation 'org.junit.jupiter:junit-jupiter-api:5.+'
     testImplementation 'org.junit.jupiter:junit-jupiter-params:5.+'
+    testImplementation 'org.junit.platform:junit-platform-launcher:1.x.x'
     testRuntimeOnly 'org.junit.jupiter:junit-jupiter-engine:5+'
 
     // Monologue

src/main/java/org/sciborgs1155/robot/Ports.java

@@ -41,7 +41,7 @@ public static final class LEDs {
   }
 
   public static final class Hopper {
-    public static final int MOTOR = -1;
-    public static final int BEAMBREAK = -1;
+    public static final int MOTOR = 3;
+    public static final int BEAMBREAK = 4;
   }
 }

src/main/java/org/sciborgs1155/robot/Robot.java

@@ -6,9 +6,7 @@
 import static edu.wpi.first.units.Units.Seconds;
 import static edu.wpi.first.wpilibj2.command.button.RobotModeTriggers.*;
 import static org.sciborgs1155.robot.Constants.*;
-import static org.sciborgs1155.robot.Constants.DEADBAND;
 import static org.sciborgs1155.robot.Constants.Field.*;
-import static org.sciborgs1155.robot.Constants.PERIOD;
 import static org.sciborgs1155.robot.drive.DriveConstants.*;
 
 import edu.wpi.first.wpilibj.DataLogManager;
@@ -31,12 +29,16 @@
 import org.sciborgs1155.lib.FaultLogger;
 import org.sciborgs1155.lib.InputStream;
 import org.sciborgs1155.lib.Test;
+import org.sciborgs1155.robot.Constants.Field.Level;
 import org.sciborgs1155.robot.Ports.OI;
 import org.sciborgs1155.robot.arm.Arm;
 import org.sciborgs1155.robot.commands.Autos;
+import org.sciborgs1155.robot.commands.Corolling;
+import org.sciborgs1155.robot.commands.Scoraling;
 import org.sciborgs1155.robot.coroller.Coroller;
 import org.sciborgs1155.robot.drive.Drive;
 import org.sciborgs1155.robot.elevator.Elevator;
+import org.sciborgs1155.robot.hopper.Hopper;
 import org.sciborgs1155.robot.led.LEDStrip;
 import org.sciborgs1155.robot.scoral.Scoral;
 import org.sciborgs1155.robot.vision.Vision;
@@ -62,6 +64,9 @@ public class Robot extends CommandRobot implements Logged {
   private final LEDStrip led = new LEDStrip();
   private final Elevator elevator = Elevator.create();
   private final Scoral scoral = Scoral.create();
+  private final Hopper hopper = Hopper.create();
+  private final Scoraling scoraling = new Scoraling(hopper, scoral, elevator);
+  private final Corolling corolling = new Corolling(arm, coroller);
 
   // COMMANDS
   @Log.NT private final SendableChooser<Command> autos = Autos.configureAutos(drive);
@@ -107,10 +112,15 @@ private void configureGameBehavior() {
 
   /** Configures trigger -> command bindings. */
   private void configureBindings() {
-    operator.a().onTrue(elevator.scoreLevel(Level.L1));
-    operator.b().onTrue(elevator.scoreLevel(Level.L2));
-    operator.x().onTrue(elevator.scoreLevel(Level.L3));
-    operator.y().onTrue(elevator.scoreLevel(Level.L4));
+    operator.povDown().onTrue(scoraling.scoral(Level.L1));
+    operator.povLeft().onTrue(scoraling.scoral(Level.L2));
+    operator.povRight().onTrue(scoraling.scoral(Level.L3));
+    operator.povUp().onTrue(scoraling.scoral(Level.L4));
+    operator.leftBumper().onTrue(arm.climbSetup());
+    operator.leftTrigger().onTrue(arm.climbExecute());
+    operator.rightBumper().onTrue(corolling.trough());
+    operator.rightTrigger().onTrue(corolling.intake());
+    operator.a().onTrue(corolling.processor());
 
     // x and y are switched: we use joystick Y axis to control field x motion
     InputStream x = InputStream.of(driver::getLeftY).negate();
@@ -159,8 +169,7 @@ private void configureBindings() {
         .onTrue(Commands.runOnce(() -> speedMultiplier = Constants.SLOW_SPEED_MULTIPLIER))
         .onFalse(Commands.runOnce(() -> speedMultiplier = Constants.FULL_SPEED_MULTIPLIER));
 
-    // TODO: Add any additional bindings.
-
+    driver.leftTrigger().onTrue(hopper.intake().alongWith(scoral.intake()));
   }
 
   /**
@@ -197,6 +206,12 @@ public void close() {
     super.close();
     try {
       drive.close();
+      coroller.close();
+      led.close();
+      elevator.close();
+      scoral.close();
+      hopper.close();
+      arm.close();
     } catch (Exception e) {
     }
   }

src/test/java/org/sciborgs1155/robot/RobotTest.java

@@ -1,12 +1,14 @@
 package org.sciborgs1155.robot;
 
 import static org.sciborgs1155.lib.UnitTestingUtil.reset;
+import static org.sciborgs1155.lib.UnitTestingUtil.setupTests;
 
 import org.junit.jupiter.api.Test;
 
 public class RobotTest {
   @Test
   void setup() throws Exception {
+    setupTests();
     new Robot().close();
     reset();
   }