Add Manipulation

src/main/java/frc/robot/Manipulation.java

@@ -0,0 +1,82 @@
+package frc.robot;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.DoubleSolenoid.Value;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import frc.robot.logging.Loggable;
+import frc.robot.logging.Logger;
+
+public class Manipulation implements Loggable {
+
+    private CANSparkMax intakeWheel;
+    private DoubleSolenoid intakePneumatics;
+    private CANSparkMax indexLoad;
+
+    private double speed;
+    private boolean spinning;
+
+    /**
+     * Constructor
+     * 
+     * @param pneumaticsForwardChannel The Solenoid id for the forward channel for the intake
+     * @param pneumaticsReverseChannel The Solenoid id for the reverse channel for the intake
+     * @param intakeWheelID The CAN id of the spark for the intake 
+     * @param indexLoadID The CAN id of the spark for the index loader
+     * 
+     */
+    Manipulation(int pneumaticsForwardChannel, int pneumaticsReverseChannel, int intakeWheelID, int indexLoadID) {
+        this.intakeWheel = new CANSparkMax(intakeWheelID, MotorType.kBrushless);
+        this.indexLoad = new CANSparkMax(indexLoadID, MotorType.kBrushless);
+        this.intakePneumatics = new DoubleSolenoid(PneumaticsModuleType.REVPH, pneumaticsForwardChannel, pneumaticsReverseChannel);
+
+        intakeWheel.setInverted(true);
+    }
+
+    /**
+     * Spins the intake motor
+     * 
+     * @param spin True if the motor should spin; false if not
+     * 
+     */
+    public void setIntakeSpin(boolean spin) {
+        this.speed = spin ? -0.5 : 0.0;
+        intakeWheel.set(speed);
+        this.spinning = spin;
+    }
+
+    /**
+     * Moves the intake system
+     * 
+     * @param extend True if the pneumatics should extend; false if not
+     *
+     */
+    public void setIntakeExtend(boolean extend) {
+        intakePneumatics.set(extend ? Value.kForward : Value.kReverse);
+    }
+    /**
+     * Moves power cells down indexing system
+     * 
+     * @param load True if it should load; false if not
+     * 
+     */
+    public void setIndexLoad(boolean load) {
+        indexLoad.set(load ? 0.5 : 0.0);
+    }
+
+    @Override
+    public void setupLogging(Logger logger) {
+        logger.addAttribute("Manipulation/IntakeWheelSpeed");
+        logger.addAttribute("Manipulation/IntakeWheelEnabled");       
+    }
+
+    @Override
+    public void log(Logger logger) {
+        logger.log("Manipulation/IntakeWheelSpeed", speed);
+        logger.log("Manipulation/IntakeWheelEnabled", spinning);
+    }
+
+}

src/main/java/frc/robot/Robot.java

@@ -25,9 +25,12 @@ public class Robot extends TimedRobot {
 
   LoggableController driver;
   LoggableController operator;
+  Manipulation manipulation;
 
   LoggablePowerDistribution pdp;
 
+  boolean manipulationEnabled = true;
+
   /**
    * This function is run when the robot is first started up and should be used
    * for any initialization code.
@@ -39,6 +42,13 @@ public void robotInit() {
     driver = new LoggableController("Driver", 0);
     operator = new LoggableController("Operator", 1);
 
+    if (manipulationEnabled) {
+      System.out.println("Initializing manipulation...");
+      manipulation = new Manipulation(0, 1, 7, 8);
+    } else {
+      System.out.println("Manipulation initialization disabled.");
+    }
+
     logger = new Logger();
     timer = new LoggableTimer();
 
@@ -71,6 +81,16 @@ public void teleopInit() {
   @Override
   public void teleopPeriodic() {
     // Robot code goes here
+    if (this.manipulationEnabled) {
+      if (driver.getRightBumperPressed()) {
+        manipulation.setIntakeExtend(true);
+      } else if (driver.getLeftBumperPressed()) {
+        manipulation.setIntakeExtend(false);
+      }
+      manipulation.setIntakeSpin(operator.getYButton());
+      manipulation.setIndexLoad(operator.getXButton());
+    }
+
     logger.log();
     logger.writeLine();
   }

vendordeps/REVLib.json

@@ -0,0 +1,73 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2022.1.1",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2022.1.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2022.1.1",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian",
+                "osxx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2022.1.1",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian",
+                "osxx86-64"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2022.1.1",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian",
+                "osxx86-64"
+            ]
+        }
+    ]
+}