Yogev

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

@@ -38,7 +38,7 @@ public static enum Mode {
   public static class ShooterConstants {
 
     public enum ShooterState {
-      SHOOTING,
+      SHOOTER,
       REVERSE,
       IDLE
     }
@@ -60,25 +60,65 @@ public enum ShooterState {
     public static final double maxReverseOutput = 0.5;
 
     public static final AngularVelocity shooterSpeed = Units.RPM.of(4000);
-    public static final AngularVelocity reverseSpeed = Units.RPM.of(-1000); 
+    public static final AngularVelocity reverseSpeed = Units.RPM.of(-1000);
     public static final AngularVelocity idleSpeed = Units.RPM.of(0);
 
     public enum ShooterModes {
-            SHOOTER(shooterSpeed, 1.0),
-            REVERSE(reverseSpeed, -0.5),
-            IDLE(idleSpeed, 0.0);
+      SHOOTER(shooterSpeed, 1.0),
+      REVERSE(reverseSpeed, -0.5),
+      IDLE(idleSpeed, 0.0);
 
-            public AngularVelocity speed;
-            public double output;
+      public AngularVelocity speed;
+      public double output;
+
+      ShooterModes(AngularVelocity speed, double output) {
+        this.speed = speed;
+        this.output = output;
+      }
+    }
+  }
+
+  public static class IndexerConstants {
 
-            ShooterModes(AngularVelocity speed, double output) {
-                this.speed = speed;
-                this.output = output;
-            }
+    public enum IndexerState {
+      INDEXER,
+      REVERSE,
+      IDLE
+    }
 
-        }
+    public static final boolean attached = true;
 
+    public static final int id = -1;
+
+    public static final double p = 1;
+    public static final double i = 0;
+    public static final double d = 0;
 
+    public static final boolean invert = false;
+    public static final boolean breakType = false;
+    public static final double gearRatio = 1 / 1;
+
+
+    public static final Current stallLimit = Units.Amps.of(60);
+    public static final Current supplyLimit = Units.Amps.of(80);
+    public static final double maxForwardOutput = 0.5;
+    public static final double maxReverseOutput = -0.5;
+
+    public static final double indexerSpeed = 0.5;
+    public static final double reverseSpeed = -0.5;
+    public static final double idleSpeed = 0.0;
+
+    public enum IndexerModes {
+      INDEXER(indexerSpeed),
+      REVERSE(reverseSpeed),
+      IDLE(idleSpeed);
+
+      public double output;
+
+      IndexerModes(double output) {
+        this.output = output;
+      }
+    }
   }
 
   public static final class IntakeConstants {

src/main/java/frc/robot/subsystems/indexer/Indexer.java

@@ -0,0 +1,80 @@
+package frc.robot.subsystems.indexer;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.RunCommand;
+import frc.robot.Constants;
+import frc.robot.Constants.IndexerConstants;
+import frc.robot.Constants.IndexerConstants.IndexerModes;
+import frc.robot.Constants.IndexerConstants.IndexerState;
+import frc.robot.Constants.IntakeConstants;
+import frc.team5431.titan.core.subsystem.CTREMechanism;
+import lombok.Getter;
+import lombok.Setter;
+
+public class Indexer extends CTREMechanism {
+
+    @Getter @Setter private IndexerModes indexerModes;
+    @Getter @Setter private IndexerState indexerState;
+
+    private boolean attached;
+    private TalonFX motor;
+
+    public static class IndexerConfig extends Config {
+        public IndexerConfig() {
+            super("Indexer", IndexerConstants.id, Constants.canbus);
+
+            configNeutralBrakeMode(IndexerConstants.breakType);
+            configStatorCurrentLimit(IndexerConstants.stallLimit, true);
+            configSupplyCurrentLimit(IndexerConstants.supplyLimit, true);
+            configForwardSoftLimit(IndexerConstants.maxForwardOutput, true);
+            configReverseSoftLimit(IndexerConstants.maxReverseOutput, true);
+            configPIDGains(IndexerConstants.p, IndexerConstants.i, IndexerConstants.d);
+            configPeakOutput(IndexerConstants.maxForwardOutput, IndexerConstants.maxReverseOutput);
+            configGearRatio(IndexerConstants.gearRatio);
+            configMotorInverted(IndexerConstants.invert);
+        }
+    }
+
+    public Indexer(TalonFX motor, boolean attached) {
+        super(motor, attached);
+        this.attached = attached;
+        this.motor = motor;
+        this.indexerModes = IndexerModes.IDLE;
+        this.indexerState = IndexerState.IDLE;
+
+        config.applyTalonConfig(motor);
+    }
+
+    @Override
+    public void periodic() {
+        SmartDashboard.putString("Indexer Mode", getIndexerModes().toString());
+
+
+        switch (this.indexerModes) {
+            case IDLE:
+                setIndexerState(IndexerState.IDLE);
+                break;
+            case INDEXER:
+                setIndexerState(IndexerState.INDEXER);
+                break;
+            case REVERSE:
+                setIndexerState(IndexerState.REVERSE);
+                break;
+        }
+
+    }
+
+    public Command runIndexerCommand(IndexerModes indexerModes) {
+        return new RunCommand(() -> setPercentOutput(indexerModes.output), this).withName("Indexer.runEnum");
+    }
+
+    @Override
+    public Config setConfig() {
+        // configure motors/sensors here
+        this.config = new IndexerConfig();
+        return this.config;
+    }
+}

src/main/java/frc/robot/subsystems/intake/Intake.java

@@ -28,6 +28,7 @@ public IntakeConfig() {
           IntakeConstants.maxReverseRotation.in(Rotation), IntakeConstants.useRMaxRotation);
       configForwardSoftLimit(
           IntakeConstants.maxFowardRotation.in(Rotation), IntakeConstants.useFMaxRotation);
+      configMotorInverted(IntakeConstants.invert);
     }
   }
 

src/main/java/frc/robot/subsystems/shooter/Shooter.java

@@ -2,24 +2,23 @@
 
 import com.ctre.phoenix6.hardware.TalonFX;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import frc.robot.Constants;
 import frc.robot.Constants.ShooterConstants;
 import frc.robot.Constants.ShooterConstants.ShooterModes;
 import frc.robot.Constants.ShooterConstants.ShooterState;
-import frc.team5431.titan.core.misc.Logger;
 import frc.team5431.titan.core.subsystem.CTREMechanism;
 import lombok.Getter;
 import lombok.Setter;
 
 public class Shooter extends CTREMechanism {
 
-    @Getter
-    private ShooterState shooterState;
-    @Getter
-    @Setter
-    private ShooterModes shooterMode;
+    @Getter @Setter private ShooterState shooterState;
+    @Getter @Setter private ShooterModes shooterMode;
+    private boolean attached;
+    private TalonFX motor;
 
     public static class ShooterConfig extends Config {
         public ShooterConfig() {
@@ -32,7 +31,8 @@ public ShooterConfig() {
             configReverseSoftLimit(ShooterConstants.maxReverseOutput, true);
             configPIDGains(ShooterConstants.p, ShooterConstants.i, ShooterConstants.d);
             configPeakOutput(ShooterConstants.maxForwardOutput, ShooterConstants.maxReverseOutput);
-
+            configGearRatio(ShooterConstants.gearRatio);
+            configMotorInverted(ShooterConstants.inverted);
         }
     }
 
@@ -44,14 +44,29 @@ public Shooter(TalonFX motor, boolean attached) {
         this.shooterState = ShooterState.IDLE;
 
         config.applyTalonConfig(motor);
-        this.setConfig();
     }
 
-
+    @Override
+    public void periodic() {
+        SmartDashboard.putString("Shooter Mode", getShooterMode().toString());
+
+
+        switch (this.shooterMode) {
+            case IDLE:
+                setShooterState(ShooterState.IDLE);
+                break;
+            case SHOOTER:
+                setShooterState(ShooterState.SHOOTER);
+                break;
+            case REVERSE:
+                setShooterState(ShooterState.REVERSE);
+                break;
+        }
+
+    }
 
     public Command runShooterCommand(ShooterModes shooterModes) {
-        return new RunCommand(() -> setVelocity(shooterModes.speed), this)
-                .withName("Shooter.runEnum");
+        return new RunCommand(() -> setVelocity(shooterModes.speed), this).withName("Shooter.runEnum");
     }
 
     @Override