Feature/new shooter

motor-ids.txt

@@ -0,0 +1,9 @@
+Intake
+    Roller 2
+    Extension 1
+Indexer
+    Main: 4
+    Accelerator: 3
+Shooter
+    Flywheel - x3: 5,6,7
+    Hood: 8

src/main/java/frc/robot/Robot.java

@@ -14,7 +14,6 @@
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
-import frc.robot.statemachines.LaunchState;
 import frc.robot.statemachines.ShiftState;
 
 /**
@@ -106,13 +105,15 @@ public void disabledPeriodic() {}
   /** This autonomous runs the autonomous command selected by your {@link RobotContainer} class. */
   @Override
   public void autonomousInit() {
+    /*
     m_autonomousCommand = m_robotContainer.getAutonomousCommand();
     LaunchState.getInstance().setTargetPose3d(Constants.FieldConstants.getHubTarget());
 
     // schedule the autonomous command
     if (m_autonomousCommand != null) {
       CommandScheduler.getInstance().schedule(m_autonomousCommand);
     }
+    */
   }
 
   /** This function is called periodically during autonomous. */
@@ -140,8 +141,8 @@ public void testInit() {
     CommandScheduler.getInstance().cancelAll();
 
     SignalLogger.stop();
-    m_robotContainer.removeSubsystemDefaultCommands();
-    m_robotContainer.configureTestBindings();
+    // m_robotContainer.removeSubsystemDefaultCommands();
+    // m_robotContainer.configureTestBindings();
   }
 
   /** This function is called periodically during test mode. */

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

@@ -36,6 +36,7 @@ public class RobotContainer {
   private final Telemetry logger = new Telemetry(DriveConstants.MAX_DRIVE_SPEED);
 
   private final CommandXboxController driverJoystick = new CommandXboxController(0);
+
   private final CommandXboxController operatorJoystick = new CommandXboxController(1);
 
   @Logged(name = "Drivetrain")
@@ -50,9 +51,6 @@ public class RobotContainer {
   @Logged(name = "Shooter")
   public final ShooterSubsystem shooter = new ShooterSubsystem();
 
-  //   @Logged(name = "Climber")
-  //   public final ClimberSubsystem climber = new ClimberSubsystem();
-
   @Logged(name = "Vision")
   public final VisionSubsystem vision = new VisionSubsystem();
 
@@ -63,6 +61,7 @@ public class RobotContainer {
   private final DriveState driveState = DriveState.getInstance();
   private final LaunchState launchState = LaunchState.getInstance();
 
+  /*
   private final Command driveAndLaunchCommand =
       drivetrain
           .applyRequest(() -> getDriveAndLaunchRequest())
@@ -82,13 +81,14 @@ public class RobotContainer {
           .stopFullIndexingNoPID()
           .andThen(shooter.stopFlywheelCommand())
           .andThen(shooter.stowHood());
+   */
 
   private final SendableChooser<Command> autoChooser;
 
   public RobotContainer() {
     NamedCommands.registerCommand("Seed", drivetrain.runOnce(drivetrain::seedFieldCentric));
-    NamedCommands.registerCommand("AutonShoot", autonShootCommand);
-    NamedCommands.registerCommand("StopShot", stopShotCommand);
+    // NamedCommands.registerCommand("AutonShoot", autonShootCommand);
+    // NamedCommands.registerCommand("StopShot", stopShotCommand);
     NamedCommands.registerCommand("StopRoller", intake.stopRollerNoPID());
     NamedCommands.registerCommand(
         "Collect Intake",
@@ -103,7 +103,6 @@ public RobotContainer() {
     NamedCommands.registerCommand(
         "HP Reload", new WaitCommand(IntakePreferences.outpostReloadWait.getValue()));
     autoChooser = AutoBuilder.buildAutoChooser("Auto Chooser");
-    autoChooser.addOption("Auton Shoot", autonShootCommand);
     SmartDashboard.putData("Auto Mode", autoChooser);
 
     // Idle while the robot is disabled. This ensures the configured
@@ -166,6 +165,7 @@ public void removeSubsystemDefaultCommands() {
     drivetrain.removeDefaultCommand();
   }
 
+  /*
   public void configureTestBindings() {
     // Idle while the robot is disabled. This ensures the configured
     // neutral mode is applied to the drive motors while disabled.
@@ -202,9 +202,9 @@ public void configureTestBindings() {
 
     driverJoystick.x().onTrue(intake.spinRollerCommand()).onFalse(intake.stopRollerCommand());
   }
+  */
 
   public void configureTeleopBindings() {
-
     driverJoystick
         .rightBumper()
         // .whileTrue(intake.setExtendNoPID())
@@ -218,6 +218,10 @@ public void configureTeleopBindings() {
                 .andThen(intake.setIntakeExtensionCommand(IntakeConstants.INTAKE_REVERSE_LIMIT))
                 .withName("Stow Intake"));
 
+    // stop the roller without retracting.
+    driverJoystick.x().onTrue(intake.stopRollerNoPID());
+
+    /*
     // outtake fuel.  don't retract when done.
     driverJoystick
         .b()
@@ -230,9 +234,6 @@ public void configureTeleopBindings() {
         .onFalse(
             intake.stopRollerNoPID().andThen(indexer.stopIndexerNoPID()).withName("Stop Roller"));
 
-    // stop the roller without retracting.
-    driverJoystick.x().onTrue(intake.stopRollerNoPID());
-
     operatorJoystick
         .rightTrigger()
         .whileTrue(
@@ -256,6 +257,7 @@ public void configureTeleopBindings() {
         .rightBumper()
         .whileTrue(shooter.spinFlywheelPostCommand())
         .onFalse(shooter.stopFlywheelCommand().andThen(shooter.stowHood()));
+    */
 
     // Reset the field-centric heading on start button press.
     driverJoystick
@@ -301,6 +303,11 @@ public void configureTeleopBindings() {
                 .manualRumbleCommand(driverJoystick.getHID())
                 .withName("Rumble Driver Controller"));
 
+    operatorJoystick.rightTrigger().whileTrue(indexer.startFullIndexingNoPID());
+    operatorJoystick.a().onTrue(shooter.setHoodTargetCommand());
+    operatorJoystick.leftBumper().onTrue(shooter.setFlywheelOutputCommand());
+    operatorJoystick.rightBumper().onTrue(shooter.stopFlywheelOutputCommand());
+
     drivetrain.registerTelemetry(logger::telemeterize);
   }
 

src/main/java/frc/robot/subsystems/indexer/IndexerConstants.java

@@ -10,12 +10,10 @@ final class IndexerConstants {
 
   private IndexerConstants() {}
 
-  // TODO Replace with real id
-  protected static final int INDEXER_MOTOR_LEADER_ID = 3;
-  protected static final int INDEXER_MOTOR_FOLLOWER_ID = 9;
-  protected static final int ACCELERATOR_MOTOR_ID = 8;
+  protected static final int INDEXER_MOTOR_LEADER_ID = 4;
+  protected static final int ACCELERATOR_MOTOR_ID = 3;
 
-  // TODO: Tune motor
+  // TODO: PID tune motor
 
   protected static final double INDEXER_KS = 0;
   protected static final double INDEXER_KV = 0;
@@ -45,20 +43,13 @@ protected static Slot0Configs createAcceleratorMotorSlot0Configs() {
     return slot;
   }
 
-  public static MotorOutputConfigs createLeaderMotorOutputConfigs() {
+  public static MotorOutputConfigs createIndexerMotorOutputConfigs() {
     MotorOutputConfigs newConfigs = new MotorOutputConfigs();
     newConfigs.Inverted = InvertedValue.CounterClockwise_Positive;
     newConfigs.NeutralMode = NeutralModeValue.Brake;
     return newConfigs;
   }
 
-  public static MotorOutputConfigs createFollowerMotorOutputConfigs() {
-    MotorOutputConfigs newConfigs = new MotorOutputConfigs();
-    newConfigs.Inverted = InvertedValue.Clockwise_Positive;
-    newConfigs.NeutralMode = NeutralModeValue.Brake;
-    return newConfigs;
-  }
-
   public static final double INDEXER_CURRENT_LIMIT = 40;
 
   public static CurrentLimitsConfigs createIndexerCurrentLimitsConfigs() {
@@ -70,7 +61,7 @@ public static CurrentLimitsConfigs createIndexerCurrentLimitsConfigs() {
 
   public static MotorOutputConfigs createAcceleratorMotorOutputsConfigs() {
     MotorOutputConfigs newConfigs = new MotorOutputConfigs();
-    newConfigs.Inverted = InvertedValue.Clockwise_Positive;
+    newConfigs.Inverted = InvertedValue.CounterClockwise_Positive;
     newConfigs.NeutralMode = NeutralModeValue.Brake;
     return newConfigs;
   }

src/main/java/frc/robot/subsystems/indexer/IndexerPreferences.java

@@ -6,21 +6,28 @@ final class IndexerPreferences {
 
   private IndexerPreferences() {}
 
-  protected static DoublePreference indexSpeed =
-      new DoublePreference("Indexer/Index Speed", 0.1); // in rotations per second
-
   protected static DoublePreference indexerPercent =
       new DoublePreference("Indexer/Index Percent (for without PID)", 0.1); // in percent
 
+  protected static DoublePreference acceleratorPercent =
+      new DoublePreference("Indexer/Accelerator Percent (for without PID)", 0.1); // in percent
+
+  /*
+  protected static DoublePreference indexSpeed =
+      new DoublePreference("Indexer/Index Speed (RotationsPS)", 0.1); // in rotations per second
+
   protected static DoublePreference indexerReversePercent =
       new DoublePreference("Indexer/Reverse Index Percent (for without PID)", -0.1); // in percent
 
-  protected static DoublePreference acceleratorPercent =
-      new DoublePreference("Indexer/Accelerator Percent (for without PID)", 0.1); // in percent
+  protected static DoublePreference accelerateSpeed =
+      new DoublePreference(
+          "Indexer/Accelerate Speed (RotationsPS)", 0.1); // in rotations per second
+
 
   protected static DoublePreference indexerRunTime =
       new DoublePreference("Indexer/Pulsing Run Time", 2.0); // in seconds
 
   protected static DoublePreference indexerPauseTime =
       new DoublePreference("Indexer/Pulsing Pause Time", 0.1); // in seconds
+  */
 }