Merge branch 'main' into CollectNoteTesting

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

@@ -291,6 +291,7 @@ private void registerNamedCommands() {
     NamedCommands.registerCommand("stopDrivetrain", new InstantCommand(driveTrain::stop, driveTrain));
 
     if(shooterExists) {NamedCommands.registerCommand("shooterOn", new InstantCommand(()->shooter.shootThing(1), shooter));
+
     NamedCommands.registerCommand("stopFeedingShooter", new InstantCommand(indexer::feederOff, indexer));}
     if(indexerExists) {NamedCommands.registerCommand("feedShooter", new InstantCommand(()->indexer.feederFeed(0.5), indexer));}
     if(intakeExists) {NamedCommands.registerCommand("autoPickup", new CollectNote(driveTrain, limelight));

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

@@ -42,15 +42,15 @@ public void initialize() {
   public void execute() {
     if (m_Indexer.getInchesFromSensor()>8) {
       intake.intakeYes(1);
-      m_Indexer.holderRetrieve(0.5);
+      m_Indexer.on();
       shooter.turnOff();
     } else {
       intake.intakeOff();
-      m_Indexer.holderOff();
+      m_Indexer.off();
       shooter.shootThing(1);
     }
     if (shootButtonSupplier.getAsBoolean()) {
-      m_Indexer.feederFeed(0.5);
+      m_Indexer.on();
     }
   }
 

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

@@ -248,8 +248,8 @@ private DriveConstants() {
     public static final double k_PICKUP_NOTE_tx_D = 0;
   }
 public static final class ShooterConstants{
-  public static final int SHOOTER_1_MOTORID = 2491;
-  public static final int SHOOTER_2_MOTORID = 2491;
+  public static final int SHOOTER_R_MOTORID = 2491;
+  public static final int SHOOTER_L_MOTORID = 2491;
   public static final int PITCH_MOTOR_ID = 2491;
   public static final double SHOOTER_MOTOR_POWER = 1;
   public static final double SHOOTING_SPEED_MPS = 10;
@@ -298,11 +298,8 @@ public static final class ClimberConstants{
   public static final double CLIMBER_RPM = 0.1;
 }
 public static final class IndexerConstants{
-  public static final int FEEDER_1_MOTOR = 2491;
-  public static final int FEEDER_2_MOTOR = 2491;
-  public static final int HOLDER_1_MOTOR = 2491;
-  public static final int HOLDER_2_MOTOR = 2491;
-  public static final double INDEXER_SPEED = 0.75;
+  public static final int INDEXER_MOTOR = 2491;
+  public static final double INDEXER_SPEED = 2491;
 }
 public static final class IntakeConstants{
   public static final int INTAKE_1_MOTOR = 2491;

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

@@ -1,56 +1,30 @@
 package frc.robot.subsystems;
- 
+
 import com.revrobotics.CANSparkMax;
- import com.revrobotics.RelativeEncoder;
-import com.revrobotics.SparkPIDController;
- import com.revrobotics.SparkRelativeEncoder;
- import com.revrobotics.CANSparkBase.ControlType;
- import com.revrobotics.CANSparkBase.IdleMode;
- import com.revrobotics.CANSparkLowLevel.MotorType;
- import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.settings.Constants;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.settings.Constants.IndexerConstants;
 
-public class IndexerSubsystem extends SubsystemBase{
-    CANSparkMax holder1;
-    CANSparkMax holder2;
-    CANSparkMax feeder1;
-    CANSparkMax feeder2;
-    boolean isHolding;
-    public IndexerSubsystem(){
-        CANSparkMax holder1 = new CANSparkMax(IndexerConstants.HOLDER_1_MOTOR, MotorType.kBrushless);
-        CANSparkMax holder2 = new CANSparkMax(IndexerConstants.HOLDER_2_MOTOR, MotorType.kBrushless);
-        CANSparkMax feeder1 = new CANSparkMax(IndexerConstants.FEEDER_1_MOTOR, MotorType.kBrushless);
-        CANSparkMax feeder2 = new CANSparkMax(IndexerConstants.FEEDER_2_MOTOR, MotorType.kBrushless);
-        //sensor sensorThingy = new ???;
-        boolean isHolding = false;
-        feeder2.follow(feeder1);
-        feeder2.setInverted(true);
-        holder2.follow(holder1);
-        holder2.setInverted(true);
-        holder1.setIdleMode(IdleMode.kBrake);
-        holder2.setIdleMode(IdleMode.kBrake);
-        feeder1.setIdleMode(IdleMode.kBrake);
-        feeder2.setIdleMode(IdleMode.kBrake);
+public class IndexerSubsystem extends SubsystemBase {
+    CANSparkMax m_IndexerMotor;
+
+    public IndexerSubsystem() {
+        m_IndexerMotor = new CANSparkMax(IndexerConstants.INDEXER_MOTOR, MotorType.kBrushless);
     }
 
     public double getInchesFromSensor() {
         return 0;
     }
-    public void feederFeed(double generalSpeed){
-        feeder1.set(generalSpeed);
-    }
-    public void feederOff(){
-        feeder1.set(0);
-    }
-    public void holderRetrieve(double generalSpeed){
-        holder1.set(generalSpeed);
+
+    public void on() {
+        m_IndexerMotor.set(IndexerConstants.INDEXER_SPEED);
     }
-    public void holderOff(){
-        holder1.set(0);
+
+    public void off() {
+        m_IndexerMotor.set(0);
     }
-    public void allOff(){
-        feeder1.set(0);
-        holder1.set(0);
+
+    public void reverse() {
+        m_IndexerMotor.set(-IndexerConstants.INDEXER_SPEED);
     }
 }

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

@@ -33,8 +33,8 @@
 import java.util.function.BooleanSupplier;
 
  public class ShooterSubsystem extends SubsystemBase {
-   CANSparkMax shooter1;
-   CANSparkMax shooter2;
+   CANSparkMax shooterR;
+   CANSparkMax shooterL;
    CANSparkMax pitchMotor;
    double runSpeed;
 
@@ -81,19 +81,19 @@ public class ShooterSubsystem extends SubsystemBase {
    public ShooterSubsystem(double runSpeed, BooleanSupplier aimAtAmp) {
      SparkPIDController shooterPID;
      this.aimAtAmp = aimAtAmp;
-     shooter1 = new CANSparkMax(ShooterConstants.SHOOTER_1_MOTORID, MotorType.kBrushless);
-     shooter2 = new CANSparkMax(ShooterConstants.SHOOTER_2_MOTORID, MotorType.kBrushless);
+     shooterR = new CANSparkMax(ShooterConstants.SHOOTER_R_MOTORID, MotorType.kBrushless);
+     shooterL = new CANSparkMax(ShooterConstants.SHOOTER_L_MOTORID, MotorType.kBrushless);
      pitchMotor = new CANSparkMax(ShooterConstants.PITCH_MOTOR_ID, MotorType.kBrushless);
-     shooter1.restoreFactoryDefaults();
-     shooter2.follow(shooter1);
-     shooter2.setInverted(true);
-     shooter1.setIdleMode(IdleMode.kCoast);
-     shooter2.setIdleMode(IdleMode.kCoast);
+     shooterR.restoreFactoryDefaults();
+     shooterL.follow(shooterR);
+     shooterL.setInverted(true);
+     shooterR.setIdleMode(IdleMode.kCoast);
+     shooterL.setIdleMode(IdleMode.kCoast);
 
 
-     encoder1 = shooter1.getEncoder(SparkRelativeEncoder.Type.kQuadrature, 4096);
+     encoder1 = shooterR.getEncoder(SparkRelativeEncoder.Type.kQuadrature, 4096);
 
-    shooterPID = shooter1.getPIDController();
+    shooterPID = shooterR.getPIDController();
     pitchPID = pitchMotor.getPIDController();              
 
     pitchPID.setFF(pitchFeedForward);
@@ -146,11 +146,13 @@ public ShooterSubsystem(double runSpeed, BooleanSupplier aimAtAmp) {
 
 
   public void shootThing(double runSpeed) {
-     shooter1.set(runSpeed);
+     shooterR.set(runSpeed);
+     shooterL.set(runSpeed);
    }
   public void turnOff(){
-     shooter1.set(0);
-   }
+     shooterR.set(0);
+     shooterL.set(0);
+    }
    public void pitchShooter(double pitchSpeed){
     pitchMotor.set(pitchSpeed);
   }