feat: finished shooter IO autologged inputs

TitaniumTitans · Feb 2, 2024 · 377d9f2 · 377d9f2
1 parent 2a28eac
commit 377d9f2
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Showing 3 changed files with 53 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -4,12 +4,35 @@
 
 public interface ShooterIO {
   @AutoLog
-  class ShooterIOInputs {}
+  class ShooterIOInputs {
+    public double tlVelocity = 0.0;
+    public double trVelocity = 0.0;
+    public double blVelocity = 0.0;
+    public double brVelocity = 0.0;
+    public double tlAppliedOutput = 0.0;
+    public double trAppliedOutput = 0.0;
+    public double blAppliedOutput = 0.0;
+    public double brAppliedOutput = 0.0;
+    public double kickerAppliedOutput = 0.0;
+    public double tlCurrentDraw = 0.0;
+    public double trCurrentDraw = 0.0;
+    public double blCurrentDraw = 0.0;
+    public double brCurrentDraw = 0.0;
+    public double kickerCurrentDraw = 0.0;
+    public double tlTemperature = 0.0;
+    public double trTemperature = 0.0;
+    public double blTemperature = 0.0;
+    public double brTemperature = 0.0;
+
+
+
+  }
   default void setMotorVoltageTL(double voltage) {}
   default void setMotorVoltageTR(double voltage) {}
   default void setMotorVoltageBL(double voltage) {}
   default void setMotorVoltageBR(double voltage) {}
   default void setKickerVoltage(double voltage) {}
   default void setIntakeVoltage(double voltage) {}
+  default void updateInputs(ShooterIOInputs inputs) {}
 
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOPrototype.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOPrototype.java
@@ -9,30 +9,30 @@ public class ShooterIOPrototype implements ShooterIO {
   private final CANSparkMax m_topRightMotor;
   private final CANSparkFlex m_bottomLeftMotor;
   private final CANSparkMax m_bottomRightMotor;
-  private final CANSparkMax m_kickekMotor;
+  private final CANSparkMax m_kickerkMotor;
   public ShooterIOPrototype() {
     m_topLeftMotor = new CANSparkFlex(13, CANSparkLowLevel.MotorType.kBrushless);
     m_topRightMotor = new CANSparkMax(14, CANSparkLowLevel.MotorType.kBrushless);
     m_bottomLeftMotor = new CANSparkFlex(15, CANSparkLowLevel.MotorType.kBrushless);
     m_bottomRightMotor = new CANSparkMax(16, CANSparkLowLevel.MotorType.kBrushless);
-    m_kickekMotor = new CANSparkMax(17, CANSparkLowLevel.MotorType.kBrushless);
+    m_kickerkMotor = new CANSparkMax(17, CANSparkLowLevel.MotorType.kBrushless);
 
     m_topLeftMotor.setInverted(false);
     m_topRightMotor.setInverted(true);
     m_bottomLeftMotor.setInverted(true);
     m_bottomRightMotor.setInverted(true);
-    m_kickekMotor.setInverted(true);
+    m_kickerkMotor.setInverted(true);
 
     m_topLeftMotor.burnFlash();
     m_topRightMotor.burnFlash();
     m_topRightMotor.burnFlash();
     m_bottomRightMotor.burnFlash();
-    m_kickekMotor.burnFlash();
+    m_kickerkMotor.burnFlash();
   }
 
 //    @Override
 //    public void updateInputs(ShooterIOInputs inputs) {
-//        inputs.tLAngularVelocity = m_topLeftMotor.getEncoder().getVelocity() * Math.PI;
+//        inputs.tLAngularVelocity = m_topLeftMotor.getEncoder().getVelocity() * Math.PI * 2;
 //        inputs.tRAngularVelocity = m_topRightMotor.getEncoder().getVelocity() * Math.PI;
 //        inputs.bLAngularVelocity = m_bottomLeftMotor.getEncoder().getVelocity() * Math.PI;
 //        inputs.bRAngularVelocity = m_bottomRightMotor.getEncoder().getVelocity() * Math.PI;
@@ -67,7 +67,28 @@ public void setMotorVoltageBR(double voltage) {
 
   @Override
   public void setKickerVoltage(double voltage) {
-    m_kickekMotor.setVoltage(voltage);
+    m_kickerkMotor.setVoltage(voltage);
   }
 
+  @Override
+  public void updateInputs(ShooterIOInputs inputs) {
+    inputs.tlVelocity = m_topLeftMotor.getEncoder().getVelocity() * Math.PI * 2.0;
+    inputs.trVelocity = m_topRightMotor.getEncoder().getVelocity() * Math.PI * 2.0;
+    inputs.blVelocity = m_bottomLeftMotor.getEncoder().getVelocity() * Math.PI * 2.0;
+    inputs.brVelocity = m_bottomRightMotor.getEncoder().getVelocity() * Math.PI * 2.0;
+    inputs.tlAppliedOutput = m_topLeftMotor.getAppliedOutput();
+    inputs.trAppliedOutput = m_topRightMotor.getAppliedOutput();
+    inputs.blAppliedOutput = m_bottomLeftMotor.getAppliedOutput();
+    inputs.brAppliedOutput = m_bottomRightMotor.getAppliedOutput();
+    inputs.kickerAppliedOutput = m_kickerkMotor.getAppliedOutput();
+    inputs.tlCurrentDraw = m_topLeftMotor.getOutputCurrent();
+    inputs.trCurrentDraw = m_topRightMotor.getOutputCurrent();
+    inputs.blCurrentDraw = m_bottomLeftMotor.getOutputCurrent();
+    inputs.brCurrentDraw = m_bottomRightMotor.getOutputCurrent();
+    inputs.kickerCurrentDraw = m_kickerkMotor.getOutputCurrent();
+    inputs.tlTemperature = m_topLeftMotor.getMotorTemperature();
+    inputs.trTemperature = m_topRightMotor.getMotorTemperature();
+    inputs.blTemperature = m_bottomLeftMotor.getMotorTemperature();
+    inputs.brTemperature = m_bottomRightMotor.getMotorTemperature();
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterSubsystem.java
@@ -7,10 +7,12 @@
 
 public class ShooterSubsystem extends SubsystemBase {
   private final ShooterIO m_io;
+  private final ShooterIOInputsAutoLogged m_inputs;
 
   private static final String TOP_WHEEL_RATIO = "Top wheel ratio";
   public ShooterSubsystem(ShooterIO io) {
     m_io = io;
+    m_inputs = new ShooterIOInputsAutoLogged();
     SmartDashboard.putNumber(TOP_WHEEL_RATIO, 0.8);
     SmartDashboard.putNumber("Left wheel", 0.6);
     SmartDashboard.putNumber("Right wheel", 0.6);