feat: update inputs

TitaniumTitans · Feb 1, 2024 · d899bb3 · d899bb3
1 parent ac8b1ac
commit d899bb3
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Showing 5 changed files with 17 additions and 33 deletions.
diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberIO.java b/src/main/java/frc/robot/subsystems/climber/ClimberIO.java
@@ -22,4 +22,5 @@ class ClimberIOInputs {
 
     default void setRightPosition(double degrees) {}
     default void setLeftPosition(double degrees) {}
+    default void updateInputs(ClimberIOInputs inputs) {}
 }
diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberIOPrototype.java b/src/main/java/frc/robot/subsystems/climber/ClimberIOPrototype.java
@@ -54,4 +54,18 @@ public void setRightPosition(double degrees) {
         final PositionVoltage m_request = new PositionVoltage(0).withSlot(0);
         m_rightTalon.setControl(m_request.withPosition(degrees / 360.0));
     }
+
+    @Override
+    public void updateInputs(ClimberIOInputs inputs) {
+        inputs.leftClimberPosition = m_leftTalon.getPosition().getValueAsDouble();
+        inputs.rightClimberPosition = m_rightTalon.getPosition().getValueAsDouble();
+        inputs.leftClimberVelocity = m_leftTalon.getVelocity().getValueAsDouble();
+        inputs.rightClimberVelocity = m_rightTalon.getVelocity().getValueAsDouble();
+        inputs.leftClimberCurrentDraw = m_leftTalon.getSupplyCurrent().getValueAsDouble();
+        inputs.rightClimberCurrentDraw = m_rightTalon.getSupplyCurrent().getValueAsDouble();
+        inputs.leftClimberCurrentSetpoint = m_leftTalon.getClosedLoopReference().getValueAsDouble();
+        inputs.rightClimberCurrentSetpoint = m_rightTalon.getClosedLoopReference().getValueAsDouble();
+        inputs.leftClimberAppliedOutput = m_leftTalon.getBridgeOutput().getValueAsDouble();
+        inputs.rightClimberAppliedOutput = m_rightTalon.getBridgeOutput().getValueAsDouble();
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java b/src/main/java/frc/robot/subsystems/climber/ClimberSubsystem.java
@@ -6,8 +6,10 @@
 
 public class ClimberSubsystem extends SubsystemBase {
     private final ClimberIO m_io;
+    private final ClimberIOInputsAutoLogged m_inputs;
     public ClimberSubsystem(ClimberIO io) {
         m_io = io;
+        m_inputs = new ClimberIOInputsAutoLogged();
     }
 
     public void setClimberPower(double power) {

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOPrototype.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOPrototype.java
@@ -33,21 +33,6 @@ public ShooterIOPrototype() {
     m_intakeRight.burnFlash();
   }
 
-    @Override
-    public void updateInputs(ShooterIOInputs inputs) {
-        inputs.tLAngularVelocity = m_topLeftMotor.getEncoder().getVelocity() * Math.PI;
-        inputs.tRAngularVelocity = m_topRightMotor.getEncoder().getVelocity() * Math.PI;
-        inputs.bLAngularVelocity = m_bottomLeftMotor.getEncoder().getVelocity() * Math.PI;
-        inputs.bRAngularVelocity = m_bottomRightMotor.getEncoder().getVelocity() * Math.PI;
-        inputs.kickerAngularVelocity = m_kickerMotor.getEncoder().getVelocity() * Math.PI;
-
-        inputs.tLAppliedInputs = m_topLeftMotor.getAppliedOutput();
-        inputs.tRAppliedInputs = m_topRightMotor.getAppliedOutput();
-        inputs.bLAppliedInputs = m_bottomLeftMotor.getAppliedOutput();
-        inputs.bRAppliedInputs = m_bottomRightMotor.getAppliedOutput();
-        inputs.kickerAppliedInputs = m_kickerMotor.getAppliedOutput();
-    }
-
   @Override
   public void setMotorVoltageTL(double voltage) {
     m_topLeftMotor.setVoltage(voltage);

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
@@ -23,25 +23,7 @@ public class ShooterIOSim implements ShooterIO{
     private double bRAppliedVolts = 0.0;
     private double kickerAppliedVolts = 0.0;
 
-    @Override
-    public void updateInputs(ShooterIOInputs inputs) {
-        m_simTL.update(LOOP_PERIOD_SECS);
-        m_simTR.update(LOOP_PERIOD_SECS);
-        m_simBL.update(LOOP_PERIOD_SECS);
-        m_simBR.update(LOOP_PERIOD_SECS);
-
-        inputs.tLAngularVelocity = m_simTL.getAngularVelocityRadPerSec();
-        inputs.tRAngularVelocity = m_simTR.getAngularVelocityRadPerSec();
-        inputs.bLAngularVelocity = m_simBL.getAngularVelocityRadPerSec();
-        inputs.bRAngularVelocity = m_simBR.getAngularVelocityRadPerSec();
-        inputs.kickerAngularVelocity = m_simKicker.getAngularVelocityRadPerSec();
 
-        inputs.tLAppliedInputs = tLAppliedVolts;
-        inputs.tRAppliedInputs = tRAppliedVolts;
-        inputs.bLAppliedInputs = bLAppliedVolts;
-        inputs.bRAppliedInputs = bRAppliedVolts;
-        inputs.kickerAppliedInputs = kickerAppliedVolts;
-    }
 
     @Override
     public void setMotorVoltageTL(double voltage) {