Kicker

src/main/java/org/team2342/frc/Constants.java

@@ -134,6 +134,17 @@ public static final class DriveConstants {
     public static final double ODOMETRY_FREQUENCY = IS_CANFD ? 250.0 : 100.0;
   }
 
+  public static final class KickerConstants {
+    public static final double RUN_VOLTAGE = 7.0;
+
+    public static final MotorConfig KICKER_CONFIG =
+        new MotorConfig()
+            .withMotorInverted(true)
+            .withSupplyCurrentLimit(30.0)
+            .withStatorCurrentLimit(40.0)
+            .withIdleMode(MotorConfig.IdleMode.BRAKE);
+  }
+
   public static final class ConductorConstants {
     public static final double TRENCH_BUFFER = 0.1;
   }
@@ -295,7 +306,8 @@ public static final class CANConstants {
 
     public static final int INDEXER_WHEEL_ID = 20;
     public static final int INDEXER_BELT_ID = 21;
-    public static final int INDEXER_FEEDER_ID = 22;
+
+    public static final int KICKER_ID = 22;
 
     public static final int TURRET_ID = 23;
 

src/main/java/org/team2342/frc/subsystems/indexer/Indexer.java

@@ -18,38 +18,37 @@
 
 public class Indexer extends SubsystemBase {
   private final DumbMotorIO beltMotor;
-  private final DumbMotorIO feederMotor;
+  private final DumbMotorIOInputsAutoLogged wheelMotorInputs = new DumbMotorIOInputsAutoLogged();
   private final DumbMotorIOInputsAutoLogged beltMotorInputs = new DumbMotorIOInputsAutoLogged();
-  private final DumbMotorIOInputsAutoLogged feederMotorInputs = new DumbMotorIOInputsAutoLogged();
-
+
+  private final Alert wheelMotorAlert =
+      new Alert("Indexer Wheel Motor is diconnected", AlertType.kError);
   private final Alert beltMotorAlert =
       new Alert("Indexer Belt Motor is diconnected", AlertType.kError);
-  private final Alert feederMotorAlert =
-      new Alert("Indexer Feeder Motor is diconnected", AlertType.kError);
 
-  public Indexer(DumbMotorIO beltMotor, DumbMotorIO feederMotor) {
+
+  public Indexer(DumbMotorIO wheelMotor, DumbMotorIO beltMotor) {
     this.beltMotor = beltMotor;
-    this.feederMotor = feederMotor;
     setName("Indexer");
 
     setDefaultCommand(
         run(
             () -> {
               beltMotor.runVoltage(0.0);
-              feederMotor.runVoltage(0.0);
+
             }));
   }
 
   @Override
   public void periodic() {
     beltMotor.updateInputs(beltMotorInputs);
-    feederMotor.updateInputs(feederMotorInputs);
+
 
     Logger.processInputs("Indexer/BeltMotor", beltMotorInputs);
-    Logger.processInputs("Indexer/FeederMotor", feederMotorInputs);
+
 
     beltMotorAlert.set(!beltMotorInputs.connected);
-    feederMotorAlert.set(!feederMotorInputs.connected);
+
 
     ExecutionLogger.log("Indexer");
   }
@@ -63,16 +62,15 @@ public Command load() {
 
   public Command feed() {
     return run(() -> {
-          beltMotor.runVoltage(IndexerConstants.RUN_VOLTAGE);
-          feederMotor.runVoltage(IndexerConstants.FEEDER_VOLTAGE);
+          beltMotor.runTorqueCurrent(IndexerConstants.RUN_CURRENT);
+
         })
         .withName("Indexer Feed");
   }
 
   public Command out() {
     return run(() -> {
           beltMotor.runVoltage(-IndexerConstants.RUN_VOLTAGE);
-          feederMotor.runVoltage(-IndexerConstants.FEEDER_VOLTAGE);
         })
         .withName("Indexer Out");
   }
@@ -81,7 +79,7 @@ public Command stop() {
     return runOnce(
             () -> {
               beltMotor.runVoltage(0.0);
-              feederMotor.runVoltage(0.0);
+
             })
         .withName("Indexer Stop");
   }

src/main/java/org/team2342/frc/subsystems/kicker/Kicker.java

@@ -0,0 +1,51 @@
+package org.team2342.frc.subsystems.kicker;
+
+import org.littletonrobotics.junction.Logger;
+import org.team2342.frc.Constants.KickerConstants;
+import org.team2342.lib.logging.ExecutionLogger;
+import org.team2342.lib.motors.dumb.DumbMotorIO;
+import org.team2342.lib.motors.dumb.DumbMotorIOInputsAutoLogged;
+
+import edu.wpi.first.wpilibj.Alert;
+import edu.wpi.first.wpilibj.Alert.AlertType;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Kicker extends SubsystemBase{
+    private final DumbMotorIO kickerMotor;
+
+    private final DumbMotorIOInputsAutoLogged kickerMotorInputs = new DumbMotorIOInputsAutoLogged();
+    private final Alert kickerMotorAlert =
+      new Alert("Indexer Feeder Motor is diconnected", AlertType.kError);
+
+    public Kicker(DumbMotorIO kickerMotor) {
+        this.kickerMotor = kickerMotor;
+        setName("Shooter/Kicker");
+        setDefaultCommand(run(() -> kickerMotor.runVoltage(0.0)));
+    }
+
+    @Override
+    public void periodic() {
+        kickerMotor.updateInputs(kickerMotorInputs);
+
+        Logger.processInputs("Shooter/Kicker", kickerMotorInputs);
+
+        kickerMotorAlert.set(!kickerMotorInputs.connected);
+
+        ExecutionLogger.log("Shooter/Kicker");
+    }
+
+    public Command in() {
+        return run(() -> kickerMotor.runVoltage(KickerConstants.RUN_VOLTAGE)).withName("Kicker Motor Run");
+    }
+    public Command out() {
+        return run(() -> kickerMotor.runVoltage(-KickerConstants.RUN_VOLTAGE)).withName("Kicker Motor Run");
+    }
+    public Command stop() {
+        return runOnce(
+                () -> {
+                    kickerMotor.runVoltage(0.0);
+                })
+            .withName("Kicker Stop");
+    }
+}