New Branch for Potentiometers, do not use as voltage information stil…

…l needs to be found

src/main/java/frc/robot/Constants.java

@@ -156,5 +156,15 @@ public static final class VisionConstants {
     public static final double kFieldWidth = 8.21055;
     public static final double kFieldLength = 16.54175;
   }
+  public static final class AutonConstants{
+    public static final int kAnalogInputPortLoc = 0;
+    public static final int kAnalogInputPortPath = 1;
+    public static final int kPotentiometerFullRange = 180;
+    public static final int kPotentiometerOffset = 30; 
+    public static final double kLocMaxVoltage = 5;
+    public static final double kPathMaxVoltage = 5;
+  }
+  }
+
+
 
-}

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

@@ -12,6 +12,8 @@
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.kinematics.ChassisSpeeds;
+import edu.wpi.first.wpilibj.AnalogInput;
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.XboxController.Button;
@@ -26,6 +28,7 @@
 import edu.wpi.first.wpilibj2.command.WaitCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.Constants.AutonConstants;
 import frc.robot.Constants.DriveConstants;
 import frc.robot.Constants.IOConstants;
 import frc.robot.Constants.ShooterConstants;
@@ -36,6 +39,7 @@
 import frc.robot.subsystems.ClimberSubsystem;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.PotentiometerSubsystem;
 import frc.robot.subsystems.IntakeSubsystem.ArmPosition;
 import frc.robot.subsystems.ShooterSubsystem;
 import frc.robot.subsystems.ShooterSubsystem.ShootSpeed;
@@ -57,9 +61,13 @@ public class RobotContainer {
 
   private final XboxController m_driverController = new XboxController(IOConstants.kDriverControllerPort);
   private final XboxController m_operatorController = new XboxController(IOConstants.kOperatorControllerPort);
-
+  private final PotentiometerSubsystem m_PotentiometerSubsystem = new PotentiometerSubsystem();
   private final SendableChooser<Command> autoChooser;
 
+  // Potentiometere
+
+
+
   /**
    * The container for the robot. Contains subsystems, IO devices, and commands.
    */
@@ -115,7 +123,13 @@ public RobotContainer() {
     m_visionSubsystem.addConsumer(m_robotDrive::addVisionMeasurement);
 
     autoChooser = AutoBuilder.buildAutoChooser();
+    String pathPosition;
     SmartDashboard.putData("Auto Chooser", autoChooser);
+
+
+
+
+
 
     // Configure the trigger bindings
     configureBindings();

src/main/java/frc/robot/subsystems/PotentiometerSubsystem.java

@@ -0,0 +1,28 @@
+package frc.robot.subsystems;
+
+import edu.wpi.first.wpilibj.AnalogPotentiometer;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import frc.robot.Constants.AutonConstants;
+
+public class PotentiometerSubsystem {
+
+  private final AnalogPotentiometer LocationPotentiometer = new AnalogPotentiometer(AutonConstants.kAnalogInputPortLoc, AutonConstants.kPotentiometerFullRange, AutonConstants.kPotentiometerOffset);
+  private final AnalogPotentiometer PathPotentiometer = new AnalogPotentiometer(AutonConstants.kAnalogInputPortPath, AutonConstants.kPotentiometerFullRange, AutonConstants.kPotentiometerOffset);
+
+  public void periodic() {
+    double locationVoltage = LocationPotentiometer.get();
+    double pathVoltage = PathPotentiometer.get();
+    SmartDashboard.putNumber("Location Potentiometer", locationVoltage);
+    SmartDashboard.putNumber("Path Potentiometer", pathVoltage);
+  }
+  //TODO: Get values for voltages on the potentiometers so that when the voltage is in x-range or equal to x 
+  //TODO: It will return y-path. right now num is undefined beucase the range is unknown. 
+  public void getPath(double locationVoltage, double pathVoltage){
+    double num;
+    String path;
+    //if (pathVoltage < num){
+      //path = "1-Left-Leave-Delayed-6s";
+    //}
+}
+}
+