Add stageGP command (#22)

* Add stageGP command

Co-Authored-By: Wu-Fan-529 <176576491+wu-fan-529@users.noreply.github.com>

* remove globShooter :(

Co-Authored-By: Wu-Fan-529 <176576491+wu-fan-529@users.noreply.github.com>

* change sensor number

Co-Authored-By: Wu-Fan-529 <176576491+wu-fan-529@users.noreply.github.com>

---------

Co-authored-by: FRCTeam3255-Shared <170778697+FRCTeam3255-Shared@users.noreply.github.com>
Co-authored-by: Wu-Fan-529 <176576491+wu-fan-529@users.noreply.github.com>

Author: FRCTeam3255-Shared-K1-10

src/main/java/frc/robot/RobotContainer.java

@@ -10,18 +10,22 @@
 import edu.wpi.first.wpilibj2.command.Commands;
 import frc.robot.commands.IntakeGround;
 import frc.robot.commands.PrepShooter;
+import frc.robot.commands.StageGP;
 import frc.robot.commands.intakeHopper;
 import frc.robot.subsystems.Hopper;
 import frc.robot.subsystems.Intake;
 import frc.robot.subsystems.Shooter;
+import frc.robot.subsystems.Stager;
 
 public class RobotContainer {
   private final SN_XboxController m_driverController = new SN_XboxController(1);
   private final Intake subIntake = new Intake();
   private final Hopper subHopper = new Hopper();
   private final Shooter subShooter = new Shooter();
+  private final Stager subStager = new Stager();
   private final IntakeGround com_IntakeGround = new IntakeGround(subIntake, subHopper);
   private final PrepShooter com_PrepShooter = new PrepShooter(subShooter);
+  private final StageGP com_StageGP = new StageGP(subStager);
 
   public RobotContainer() {
     configureBindings();
@@ -32,7 +36,7 @@ private void configureBindings() {
     m_driverController.btn_B.whileTrue(com_IntakeGround);
     m_driverController.btn_LeftBumper.whileTrue(new intakeHopper(subHopper));
     m_driverController.btn_X.onTrue(com_PrepShooter);
-
+    m_driverController.btn_A.whileTrue(com_StageGP);
   }
 
   public Command getAutonomousCommand() {

src/main/java/frc/robot/RobotMap.java

@@ -38,7 +38,7 @@ public static class mapShooter {
 
   public static class mapStager {
     public static final int CONVEYOR_MOTOR_CAN = 40;
-    public static final int IS_GP_STAGED_DIO = 41;
+    public static final int IS_GP_STAGED_DIO = 0;
   }
 
 }

src/main/java/frc/robot/commands/StageGP.java

@@ -0,0 +1,46 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.Stager;
+
+public class StageGP extends Command {
+  /** Creates a new StageGP. */
+  Stager globalStager;
+
+  public StageGP(Stager passedStager) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    globalStager = passedStager;
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    globalStager.setConveyorMotorVelocity(0.3);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    if (globalStager.getIsGPStaged()) {
+      globalStager.setConveyorMotorVelocity(0);
+    } else {
+      globalStager.setConveyorMotorVelocity(0.3);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    globalStager.setConveyorMotorVelocity(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}