ElevatorAssembly.java

package Systems;

import edu.wpi.first.wpilibj.Compressor;
import edu.wpi.first.wpilibj.DoubleSolenoid;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj.Utility;

//Chill Out 1778 class for controlling the elevator & pusher pneumatic mechanisms

public class ElevatorAssembly {
	    
	private static boolean initialized = false;
	
    // minimum increment (for joystick dead zone)
    private static final long CYCLE_USEC = 250000;
    
    // Pneumatics control module ID
    private static final int PCM_NODE_ID = 2;
        	
	// elevator controller gamepad ID - assumes no other controllers connected
	private static final int GAMEPAD_ID = 2;
	
    // pneumatics control objects
    private static Joystick gamepad;
    
    private static Compressor compressor;
    private static DoubleSolenoid doubleSol_1;
    private static boolean toggleValve_1;
       
    private static long initTime;
    private static boolean pressed;

	// static initializer
	public static void initialize()
	{
		if (!initialized) {
	        // pneumatics control
	        gamepad = new Joystick(GAMEPAD_ID);
	        
	        //compressor = new Compressor(PCM_NODE_ID);
	        //compressor.setClosedLoopControl(true);     // automatically turn on & off compressor based on pressure switch value
	        
	        doubleSol_1 = new DoubleSolenoid(PCM_NODE_ID, 0, 1);
	        toggleValve_1 = true;
	                	        
	        initialized = true;
	        pressed = false;
		}
	}
	
	public static void autoInit() {
        initTime = Utility.getFPGATime();
	}
	
	public static void autoPeriodic(boolean liftCommand)
	{
		long currentTime = Utility.getFPGATime();

		// if not long enough, just return
		if ((currentTime - initTime) < CYCLE_USEC)
			return;

		// if the current state of the solenoid doesn't match the commanded state
		if (toggleValve_1 != liftCommand)
		{
			// switch the state
			toggleValve_1 = !toggleValve_1;		

			// toggle the valve
			setLift(toggleValve_1);
			
			// set up for next cycle
			initTime = Utility.getFPGATime();
		}
	}
	
	public static void autoStop()
	{
		// nothing to clean up here
	}
		
	public static void teleopInit() {
        initTime = Utility.getFPGATime();
		
	}
	
	public static void teleopPeriodic()
	{		
		long currentTime = Utility.getFPGATime();
		
		// if not long enough, just return
		if ((currentTime - initTime) < CYCLE_USEC)
			return;
		
		// if A button push, toggle valve 1
		if (gamepad.getRawButton(2) && !pressed) {
			// otherwise, toggle the valve
			setLift(toggleValve_1);
			
			// set up for next cycle
			initTime = Utility.getFPGATime();
			toggleValve_1 = !toggleValve_1;
			pressed = true;
		} else {
			pressed = false;
		}
						
		//System.out.println("game pad button pressed!");
	}
	
	public static void setLift(boolean lift) {
		if (lift) {
			System.out.println("enabling double solenoid!");
			//singleSol.set(true);
			doubleSol_1.set(DoubleSolenoid.Value.kForward);
		}
		else
		{
			System.out.println("reversing double solenoid!");
			//singleSol.set(false);
			doubleSol_1.set(DoubleSolenoid.Value.kReverse);
		}
	}

}