Made tunnable pid numbers work + made shooter idle mode coast

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

@@ -348,7 +348,7 @@ public void putShuffleboardCommands() {
                     new SpinFeeder(feederSubsystem));
 
                         SmartDashboard.putData(
-                                        "Spin Shooter",
+                                        "Spins Shooter",
                                         new SpinShooter(shooterSubsystem, Constants.SHOOTER_SPEED));
 
                         SmartDashboard.putData(

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

@@ -9,6 +9,7 @@
 import com.revrobotics.spark.SparkBase.ResetMode;
 import com.revrobotics.spark.config.SparkBaseConfig;
 import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.Constants;
@@ -20,6 +21,7 @@
 import frc.robot.utils.logging.io.pidmotor.SparkMaxPidConfig;
 import frc.robot.utils.logging.io.pidmotor.SparkMaxPidMotor;
 import frc.robot.utils.logging.io.pidmotor.SparkMaxPidMotorIo;
+import frc.robot.utils.motor.TunablePIDManager;
 import frc.robot.utils.simulation.MotorSimulator;
 import frc.robot.utils.simulation.RobotVisualizer;
 
@@ -30,16 +32,23 @@ public class ShooterSubsystem extends SubsystemBase {
     private final SparkMaxPidMotorIo io;
     private final SparkMax followerMotor;
     private final SparkMaxConfig followerConfig;
-
+    private final TunablePIDManager pidManager;
     public ShooterSubsystem(SparkMaxPidMotorIo io) {
+        this.pidManager = new TunablePIDManager(LOGGING_NAME, io, createPidConfig());
         this.io = io;
-        io.setPid(0.0000002, 0.000015, 0.000015); // Pid needs tuning
+      //  io.setPid(0.0000002, 0.000015, 0.000015); // Pid needs tuning
         followerMotor = new SparkMax(Constants.SHOOTER_FOLLOWER_MOTOR_ID, SparkLowLevel.MotorType.kBrushless);
         followerConfig = new SparkMaxConfig();
-        followerConfig.follow(Constants.SHOOTER_MOTOR_ID, true);
+        followerConfig.follow(Constants.SHOOTER_MOTOR_ID, true).idleMode(IdleMode.kCoast);
         followerMotor.configure(followerConfig, ResetMode.kNoResetSafeParameters, PersistMode.kNoPersistParameters);
 
     }
+    private static SparkMaxPidConfig createPidConfig() {
+        return new SparkMaxPidConfig(false)
+                .setCurrentLimit(Constants.NEO_CURRENT_LIMIT)
+                .setAllowedError(.1)
+                .setIdleMode(IdleMode.kCoast);
+    }
 
     // setSpeed expects a power value from -1 to 1
     public void setSpeed(double speed) {
@@ -57,6 +66,7 @@ public void setPidVelocity(double velocity) {
 
     @Override
     public void periodic() {
+        pidManager.periodic();
         io.periodic();
     }
 
@@ -74,7 +84,7 @@ public static SparkMaxPidMotorIo createSimIo(RobotVisualizer visualizer) {
     }
 
     public static SparkMaxPidMotor createMotor() {
-        return new SparkMaxPidMotor(Constants.SHOOTER_MOTOR_ID, true);
+        return new SparkMaxPidMotor(Constants.SHOOTER_MOTOR_ID, createPidConfig());
     }
 
 }

src/main/java/frc/robot/utils/logging/io/pidmotor/MockSparkMaxPidMotorIo.java

@@ -4,6 +4,7 @@
 
 package frc.robot.utils.logging.io.pidmotor;
 
+
 import frc.robot.utils.logging.input.MotorLoggableInputs;
 import frc.robot.utils.logging.io.motor.MockSparkMaxIo;
 

src/main/java/frc/robot/utils/logging/io/pidmotor/RealSparkMaxPidMotorIo.java

@@ -1,6 +1,10 @@
 package frc.robot.utils.logging.io.pidmotor;
 
+import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkBase;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
 import frc.robot.utils.logging.input.MotorLoggableInputs;
 import frc.robot.utils.logging.io.motor.RealSparkMaxIo;
 

src/main/java/frc/robot/utils/logging/io/pidmotor/SparkMaxPidConfig.java

@@ -1,5 +1,7 @@
 package frc.robot.utils.logging.io.pidmotor;
 
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
 /**
  * Value container helper class for configuring a PidMotor.
  */
@@ -12,13 +14,15 @@ public class SparkMaxPidConfig {
     public static final double MAX_VELOCITY = 5000;
     public static final double MAX_ACCELERATION = 10000;
     public static final double ALLOWED_ERROR = 1.0;
+    public static final IdleMode DEFAULT_IDLE_MODE = IdleMode.kBrake;
 
     private double p = DEFAULT_P;
     private double i = DEFAULT_I;
     private double d = DEFAULT_D;
     private double iZone = DEFAULT_IZONE;
     private double ff = DEFAULT_FF;
     private int currentLimit = 20;
+    private IdleMode mode = DEFAULT_MODE;
     /**
      * This is the cruise velocity for the MAX_MOTION config.
      */
@@ -130,4 +134,14 @@ public double getAllowedError() {
     public boolean getUsesMaxMotion() {
         return usesMaxMotion;
     }
+
+    public SparkMaxPidConfig setIdleMode(IdleMode mode){
+        this.mode = mode;
+        return this;
+    }
+
+    public IdleMode getIdleMode(){
+        return mode;
+    }
 }
+

src/main/java/frc/robot/utils/logging/io/pidmotor/SparkMaxPidMotor.java

@@ -9,6 +9,8 @@
 import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 import com.revrobotics.spark.config.SparkMaxConfig;
 
+import frc.robot.constants.Constants;
+
 /**
  * A Wrapper utility to encapsulate the NEO motor with PID capability. This is simply a wrapper with
  * some convenient defaults and initializations that make programming the PID of the NEO easier.
@@ -51,7 +53,7 @@ public SparkMaxPidMotor(int id, SparkMaxPidConfig pidConfig) {
         config
                 .smartCurrentLimit(pidConfig.getCurrentLimit())
                 .closedLoopRampRate(RAMP_RATE)
-                .idleMode(IdleMode.kBrake);
+                .idleMode(pidConfig.getIdleMode());
         config
                 .closedLoop
                 .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
@@ -78,7 +80,6 @@ public SparkMaxPidMotor(int id, SparkMaxPidConfig pidConfig) {
 
         neoMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
     }
-
     /**
      * Reconfigure the PID fully using some of the values from motor params.
      * This method uses the PID, iZone, FF, maxVelocity, maxAcceleration and allowedError to reconfigure
@@ -92,7 +93,7 @@ public void configurePID(SparkMaxPidConfig params) {
                 .closedLoop
                 .pid(params.getP(), params.getI(), params.getD())
                 .iZone(params.getIZone())
-                .feedForward.kV(pidConfig.getFF());
+                .feedForward.kV(params.getFF());
         if (params.getUsesMaxMotion()) {
             config
                     .closedLoop

src/main/java/frc/robot/utils/logging/io/pidmotor/SparkMaxPidMotorIo.java

@@ -1,6 +1,7 @@
 package frc.robot.utils.logging.io.pidmotor;
 
 import com.revrobotics.spark.SparkBase;
+
 import frc.robot.utils.logging.io.motor.SparkMaxIo;
 
 /**
@@ -56,4 +57,5 @@ public interface SparkMaxPidMotorIo extends SparkMaxIo {
      * @param pidFF the FF value to set
      */
     void setPid(double pidP, double pidI, double pidD, double iZone, double pidFF);
+
 }