Merge branch 'shooterprototypetest' into main

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

@@ -36,8 +36,9 @@ public final class Constants {
 
   public static final class HardwarePorts {
     // motors (predicted) IDs not fixed
-    public static final int shooterLeaderMotor = 1;
-    public static final int shooterFollowerMotor = 2;
+    // shooter ports should be correct, climb IDs still predicted
+    public static final int shooterLeaderM = 21;
+    public static final int shooterFollowerM = 22;
     public static final int climbLeaderMotor = 3;
     public static final int climbFollowerMotor = 4;
 

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

@@ -5,46 +5,54 @@
 package frc.robot;
 
 import frc.robot.Constants.OperatorConstants;
+import frc.robot.commands.TossCommand;
+import frc.robot.subsystems.ShooterSubsystem;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 
-/**
- * This class is where the bulk of the robot should be declared. Since Command-based is a
- * "declarative" paradigm, very little robot logic should actually be handled in the {@link Robot}
- * periodic methods (other than the scheduler calls). Instead, the structure of the robot (including
- * subsystems, commands, and trigger mappings) should be declared here.
- */
 public class RobotContainer {
-  // The robot's subsystems and commands are defined here...
+
+  /* Controllers */
+  private final CommandXboxController driver = new CommandXboxController(0);
+  private final CommandXboxController operator = new CommandXboxController(1);
 
-  // Replace with CommandPS4Controller or CommandJoystick if needed
-  private final CommandXboxController m_driverController =
-      new CommandXboxController(OperatorConstants.kDriverControllerPort);
+  /* Driver Joysticks (drive control) */
+
+  /* Driver Buttons */
+
+
+  /* Operator Buttons */
+
+  /* Operator Sticks */
+
+  /* Subsystems */
+  private final ShooterSubsystem s_shooterSubsystem;
 
-  /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
-    // Configure the trigger bindings
+
+    // Initialize subsystems
+    s_shooterSubsystem = ShooterSubsystem.getInstance();
+
+
+    // Configure the button bindings
     configureBindings();
   }
 
-  /**
-   * Use this method to define your trigger->command mappings. Triggers can be created via the
-   * {@link Trigger#Trigger(java.util.function.BooleanSupplier)} constructor with an arbitrary
-   * predicate, or via the named factories in {@link
-   * edu.wpi.first.wpilibj2.command.button.CommandGenericHID}'s subclasses for {@link
-   * CommandXboxController Xbox}/{@link edu.wpi.first.wpilibj2.command.button.CommandPS4Controller
-   * PS4} controllers or {@link edu.wpi.first.wpilibj2.command.button.CommandJoystick Flight
-   * joysticks}.
-   */
-  private void configureBindings() {}
-
-  /**
-   * Use this to pass the autonomous command to the main {@link Robot} class.
-   *
-   * @return the command to run in autonomous
-   */
+  /* Map commands to buttons */
+  private void configureBindings() {
+
+    // driver controls
+    driver.a().whileTrue(new TossCommand());
+
+    // operator controls
+
+  }
+
   public Command getAutonomousCommand() {
-    return null;
+    return null; // TODO fix
   }
 }

src/main/java/frc/robot/SwerveModule.java

@@ -12,12 +12,10 @@ swerve module objects, used by the swerve drivetrain library we use (team 364)
 import frc.lib.util.CTREModuleState;
 import frc.lib.util.SwerveModuleConstants;
 
-import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.controls.PositionDutyCycle;
 import com.ctre.phoenix6.controls.PositionVoltage;
 import com.ctre.phoenix6.controls.VelocityDutyCycle;
 import com.ctre.phoenix6.controls.VelocityVoltage;
-import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.TalonFX;
 
@@ -26,8 +24,6 @@ public class SwerveModule {
 
     // Control requests
     // Reuse these, don't make more
-    final DutyCycleOut dutyCycleRequest = new DutyCycleOut(0);
-    final VoltageOut voltageOutRequest = new VoltageOut(0);
     // ControlMode.Position without voltage compensation
     final PositionDutyCycle positionDutyCycleRequest = new PositionDutyCycle(0);
     // ControlMode.Position with voltage compensation
@@ -76,10 +72,10 @@ public void setDesiredState(SwerveModuleState desiredState, boolean isOpenLoop){
     private void setSpeed(SwerveModuleState desiredState, boolean isOpenLoop){
         if(isOpenLoop){
             double percentOutput = desiredState.speedMetersPerSecond / Constants.SwerveConstants.maxSpeed;
-            mDriveMotor.setControl(dutyCycleRequest.withOutput(percentOutput));
+            mDriveMotor.set(percentOutput);
         }
         else {
-            double velocity = Conversions.MPSToFalcon(desiredState.speedMetersPerSecond, Constants.SwerveConstants.wheelCircumference, Constants.SwerveConstants.driveGearRatio);
+            double velocity = Conversions.MPSToFalcon(desiredState.speedMetersPerSecond, Constants.SwerveConstants.wheelCircumference, Constants.SwerveConstants.driveGearRatio);     
             mDriveMotor.setControl(velocityDutyCycle.withVelocity(velocity));
         }
     }

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

@@ -0,0 +1,39 @@
+// 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 frc.robot.subsystems.ShooterSubsystem;
+import edu.wpi.first.wpilibj2.command.Command;
+
+/** An example command that uses an example subsystem. */
+public class TossCommand extends Command {
+  private final ShooterSubsystem s_shooter;
+  private boolean finish;
+
+  public TossCommand() {
+    s_shooter = ShooterSubsystem.getInstance();
+    addRequirements(s_shooter);
+    finish = false;
+  }
+
+  @Override
+  public void initialize() {}
+
+  @Override
+  public void execute() {
+    s_shooter.setVoltage(10);
+    finish = true;
+  }
+
+  @Override
+  public void end(boolean interrupted) {
+    s_shooter.setVoltage(0);
+  }
+
+  @Override
+  public boolean isFinished() {
+    return finish;
+  }
+}

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

@@ -0,0 +1,54 @@
+// 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.subsystems;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+import com.ctre.phoenix6.controls.StrictFollower;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+public class ShooterSubsystem extends SubsystemBase {
+
+  private static ShooterSubsystem instance;
+  public static ShooterSubsystem getInstance() {
+    if (instance == null)
+        instance = new ShooterSubsystem();
+    return instance;
+  }
+
+  private TalonFX shooterLeaderM;
+  private TalonFX shooterFollowerM;
+
+  private double voltage;
+
+  public ShooterSubsystem() {
+    shooterLeaderM = new TalonFX(Constants.HardwarePorts.shooterLeaderM);
+    shooterFollowerM = new TalonFX(Constants.HardwarePorts.shooterFollowerM);
+    shooterFollowerM.setInverted(true);
+    shooterFollowerM.setControl(new StrictFollower(Constants.HardwarePorts.shooterLeaderM));
+  }
+
+
+  public void setVoltage(double voltage) {
+    this.voltage = voltage;
+    shooterLeaderM.setVoltage(voltage);
+  }
+
+  public double getVoltageSetpoint() {
+    return voltage;
+  }
+
+  @Override
+  public void periodic() {
+    SmartDashboard.putNumber("Motor Voltage Setpoint", getVoltageSetpoint());
+  }
+
+  @Override
+  public void simulationPeriodic() {
+    // This method will be called once per scheduler run during simulation
+  }
+}