encapsulated autologged shooter inputs

TitaniumTitans · Feb 3, 2024 · f817aa3 · f817aa3
1 parent 18813fa
commit f817aa3
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Showing 3 changed files with 191 additions and 49 deletions.
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -5,27 +5,169 @@
 public interface ShooterIO {
   @AutoLog
   class ShooterIOInputs {
-    public double tlVelocityRots = 0.0;
-    public double trVelocityRots = 0.0;
-    public double blVelocityRots = 0.0;
-    public double brVelocityRots = 0.0;
-    public double tlAppliedVolts = 0.0;
-    public double trAppliedVolts = 0.0;
-    public double blAppliedVolts = 0.0;
-    public double brAppliedVolts = 0.0;
-    public double kickerAppliedVolts = 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;
+    protected double tlVelocityRots = 0.0;
+    protected double trVelocityRots = 0.0;
+    protected double blVelocityRots = 0.0;
+    protected double brVelocityRots = 0.0;
+    protected double tlAppliedVolts = 0.0;
+    protected double trAppliedVolts = 0.0;
+    protected double blAppliedVolts = 0.0;
+    protected double brAppliedVolts = 0.0;
+    protected double kickerAppliedVolts = 0.0;
+    protected double tlCurrentDraw = 0.0;
+    protected double trCurrentDraw = 0.0;
+    protected double blCurrentDraw = 0.0;
+    protected double brCurrentDraw = 0.0;
+    protected double kickerCurrentDraw = 0.0;
+    protected double tlTemperature = 0.0;
+    protected double trTemperature = 0.0;
+    protected double blTemperature = 0.0;
+    protected double brTemperature = 0.0;
 
 
+    public double getTlVelocityRots() {
+      return tlVelocityRots;
+    }
 
+    public void setTlVelocityRots(double tlVelocityRots) {
+      this.tlVelocityRots = tlVelocityRots;
+    }
+
+    public double getTrVelocityRots() {
+      return trVelocityRots;
+    }
+
+    public void setTrVelocityRots(double trVelocityRots) {
+      this.trVelocityRots = trVelocityRots;
+    }
+
+    public double getBlVelocityRots() {
+      return blVelocityRots;
+    }
+
+    public void setBlVelocityRots(double blVelocityRots) {
+      this.blVelocityRots = blVelocityRots;
+    }
+
+    public double getBrVelocityRots() {
+      return brVelocityRots;
+    }
+
+    public void setBrVelocityRots(double brVelocityRots) {
+      this.brVelocityRots = brVelocityRots;
+    }
+
+    public double getTlAppliedVolts() {
+      return tlAppliedVolts;
+    }
+
+    public void setTlAppliedVolts(double tlAppliedVolts) {
+      this.tlAppliedVolts = tlAppliedVolts;
+    }
+
+    public double getTrAppliedVolts() {
+      return trAppliedVolts;
+    }
+
+    public void setTrAppliedVolts(double trAppliedVolts) {
+      this.trAppliedVolts = trAppliedVolts;
+    }
+
+    public double getBlAppliedVolts() {
+      return blAppliedVolts;
+    }
+
+    public void setBlAppliedVolts(double blAppliedVolts) {
+      this.blAppliedVolts = blAppliedVolts;
+    }
+
+    public double getBrAppliedVolts() {
+      return brAppliedVolts;
+    }
+
+    public void setBrAppliedVolts(double brAppliedVolts) {
+      this.brAppliedVolts = brAppliedVolts;
+    }
+
+    public double getKickerAppliedVolts() {
+      return kickerAppliedVolts;
+    }
+
+    public void setKickerAppliedVolts(double kickerAppliedVolts) {
+      this.kickerAppliedVolts = kickerAppliedVolts;
+    }
+
+    public double getTlCurrentDraw() {
+      return tlCurrentDraw;
+    }
+
+    public void setTlCurrentDraw(double tlCurrentDraw) {
+      this.tlCurrentDraw = tlCurrentDraw;
+    }
+
+    public double getTrCurrentDraw() {
+      return trCurrentDraw;
+    }
+
+    public void setTrCurrentDraw(double trCurrentDraw) {
+      this.trCurrentDraw = trCurrentDraw;
+    }
+
+    public double getBlCurrentDraw() {
+      return blCurrentDraw;
+    }
+
+    public void setBlCurrentDraw(double blCurrentDraw) {
+      this.blCurrentDraw = blCurrentDraw;
+    }
+
+    public double getBrCurrentDraw() {
+      return brCurrentDraw;
+    }
+
+    public void setBrCurrentDraw(double brCurrentDraw) {
+      this.brCurrentDraw = brCurrentDraw;
+    }
+
+    public double getKickerCurrentDraw() {
+      return kickerCurrentDraw;
+    }
+
+    public void setKickerCurrentDraw(double kickerCurrentDraw) {
+      this.kickerCurrentDraw = kickerCurrentDraw;
+    }
+
+    public double getTlTemperature() {
+      return tlTemperature;
+    }
+
+    public void setTlTemperature(double tlTemperature) {
+      this.tlTemperature = tlTemperature;
+    }
+
+    public double getTrTemperature() {
+      return trTemperature;
+    }
+
+    public void setTrTemperature(double trTemperature) {
+      this.trTemperature = trTemperature;
+    }
+
+    public double getBlTemperature() {
+      return blTemperature;
+    }
+
+    public void setBlTemperature(double blTemperature) {
+      this.blTemperature = blTemperature;
+    }
+
+    public double getBrTemperature() {
+      return brTemperature;
+    }
+
+    public void setBrTemperature(double brTemperature) {
+      this.brTemperature = brTemperature;
+    }
   }
   default void setMotorVoltageTL(double voltage) {}
   default void setMotorVoltageTR(double voltage) {}

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOPrototype.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOPrototype.java
@@ -134,26 +134,26 @@ public void updateInputs(ShooterIOInputs inputs) {
     m_bottomLeftPidProperty.updateIfChanged();
     m_bottomRightPidProperty.updateIfChanged();
 
-    inputs.tlVelocityRots = m_topLeftMotor.getEncoder().getVelocity();
-    inputs.trVelocityRots = m_topRightMotor.getEncoder().getVelocity();
-    inputs.blVelocityRots = m_bottomLeftMotor.getEncoder().getVelocity();
-    inputs.brVelocityRots = m_bottomRightMotor.getEncoder().getVelocity();
-
-    inputs.tlAppliedVolts = m_topLeftMotor.getAppliedOutput() * m_topLeftMotor.getBusVoltage();
-    inputs.trAppliedVolts = m_topRightMotor.getAppliedOutput() * m_topRightMotor.getBusVoltage();
-    inputs.blAppliedVolts = m_bottomLeftMotor.getAppliedOutput() * m_bottomLeftMotor.getBusVoltage();
-    inputs.brAppliedVolts = m_bottomRightMotor.getAppliedOutput() * m_bottomRightMotor.getBusVoltage();
-    inputs.kickerAppliedVolts = m_kickerMotor.getAppliedOutput() * m_kickerMotor.getBusVoltage();
-
-    inputs.tlCurrentDraw = m_topLeftMotor.getOutputCurrent();
-    inputs.trCurrentDraw = m_topRightMotor.getOutputCurrent();
-    inputs.blCurrentDraw = m_bottomLeftMotor.getOutputCurrent();
-    inputs.brCurrentDraw = m_bottomRightMotor.getOutputCurrent();
-    inputs.kickerCurrentDraw = m_kickerMotor.getOutputCurrent();
-
-    inputs.tlTemperature = m_topLeftMotor.getMotorTemperature();
-    inputs.trTemperature = m_topRightMotor.getMotorTemperature();
-    inputs.blTemperature = m_bottomLeftMotor.getMotorTemperature();
-    inputs.brTemperature = m_bottomRightMotor.getMotorTemperature();
+    inputs.setTlVelocityRots(m_topLeftMotor.getEncoder().getVelocity());
+    inputs.setTrVelocityRots(m_topRightMotor.getEncoder().getVelocity());
+    inputs.setBlVelocityRots(m_bottomLeftMotor.getEncoder().getVelocity());
+    inputs.setBrVelocityRots(m_bottomRightMotor.getEncoder().getVelocity());
+
+    inputs.setTlAppliedVolts(m_topLeftMotor.getAppliedOutput() * m_topLeftMotor.getBusVoltage());
+    inputs.setTrAppliedVolts(m_topRightMotor.getAppliedOutput() * m_topRightMotor.getBusVoltage());
+    inputs.setBlAppliedVolts(m_bottomLeftMotor.getAppliedOutput() * m_bottomLeftMotor.getBusVoltage());
+    inputs.setBrAppliedVolts(m_bottomRightMotor.getAppliedOutput() * m_bottomRightMotor.getBusVoltage());
+    inputs.setKickerAppliedVolts(m_kickerMotor.getAppliedOutput() * m_kickerMotor.getBusVoltage());
+
+    inputs.setTlCurrentDraw(m_topLeftMotor.getOutputCurrent());
+    inputs.setTrCurrentDraw(m_topRightMotor.getOutputCurrent());
+    inputs.setBlCurrentDraw(m_bottomLeftMotor.getOutputCurrent());
+    inputs.setBrCurrentDraw(m_bottomRightMotor.getOutputCurrent());
+    inputs.setKickerCurrentDraw(m_kickerMotor.getOutputCurrent());
+
+    inputs.setTlTemperature(m_topLeftMotor.getMotorTemperature());
+    inputs.setTrTemperature(m_topRightMotor.getMotorTemperature());
+    inputs.setBlTemperature(m_bottomLeftMotor.getMotorTemperature());
+    inputs.setBrTemperature(m_bottomRightMotor.getMotorTemperature());
   }
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java
@@ -22,16 +22,16 @@ public void updateInputs(ShooterIOInputs inputs) {
     m_simLeft.update(LOOP_PERIOD_SECS);
     m_simRight.update(LOOP_PERIOD_SECS);
 
-    inputs.tlVelocityRots = m_simLeft.getAngularVelocityRadPerSec();
-    inputs.trVelocityRots = m_simRight.getAngularVelocityRadPerSec();
-    inputs.blVelocityRots = m_simLeft.getAngularVelocityRadPerSec();
-    inputs.brVelocityRots = m_simRight.getAngularVelocityRadPerSec();
-
-    inputs.tlAppliedVolts = leftAppliedVolts;
-    inputs.trAppliedVolts = rightAppliedVolts;
-    inputs.blAppliedVolts = leftAppliedVolts;
-    inputs.brAppliedVolts = rightAppliedVolts;
-    inputs.kickerAppliedVolts = kickerAppliedVolts;
+    inputs.setTlVelocityRots(m_simLeft.getAngularVelocityRadPerSec());
+    inputs.setTrVelocityRots(m_simRight.getAngularVelocityRadPerSec());
+    inputs.setBlVelocityRots(m_simLeft.getAngularVelocityRadPerSec());
+    inputs.setBrVelocityRots(m_simRight.getAngularVelocityRadPerSec());
+
+    inputs.setTlAppliedVolts(leftAppliedVolts);
+    inputs.setTrAppliedVolts(rightAppliedVolts);
+    inputs.setBlAppliedVolts(leftAppliedVolts);
+    inputs.setBrAppliedVolts(rightAppliedVolts);
+    inputs.setKickerAppliedVolts(kickerAppliedVolts);
   }
 
   @Override