Merge branch 'Shooter' of https://github.com/Team4388/2022NoWayHome into Shooter

src/main/java/frc4388/robot/Constants.java

@@ -92,9 +92,16 @@ public final class Constants {
     public static final int SHOOTER_SLOT_IDX = 0;
     public static final int SHOOTER_PID_LOOP_IDX = 1;
     public static final SupplyCurrentLimitConfiguration SUPPLY_CURRENT_LIMIT_CONFIG = new SupplyCurrentLimitConfiguration(true, 60, 40, 0.5);
+    public static final int SHOOTER_FALCON_LEFT_CAN_ID = 0;
+    public static final int SHOOTER_FALCON_RIGHT_CAN_ID = 0; 
+   
+    /* Turret Constants */
+    //ID
+    public static final int TURRET_MOTOR_CAN_ID = 0;
     public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.6, 0.0, 0.0, 0.0, 0, 1.0);
     public static final Gains SHOOTER_ANGLE_GAINS = new Gains(0.05, 0.0, 0.0, 0.0, 0, 0.3);
     public static final double SHOOTER_TURRET_MIN = -1.0;
+
     public static final int SHOOTER_FALCON_BALLER_ID =; //unknown value, fix later//
     public static final int SHOOTER_FALCON_BALLER_FOLLOWER_ID =; //"//
   

src/main/java/frc4388/robot/RobotContainer.java

@@ -66,8 +66,14 @@ public class RobotContainer {
 
     // continually sends updates to the Blinkin LED controller to keep the lights on
     m_robotLED.setDefaultCommand(new RunCommand(m_robotLED::updateLED, m_robotLED));
-  }
+    
 
+
+    //Turret default command
+    
+
+    m_robotTurret.setDefaultCommand(
+        new RunCommand(() -> m_robotTurret.aimToCenter()));
   /**
    * Use this method to define your button->command mappings. Buttons can be
    * created by instantiating a {@link GenericHID} or one of its subclasses

src/main/java/frc4388/robot/RobotMap.java

@@ -97,8 +97,13 @@ public class RobotMap {
   /*Boom Boom Subsystem*/ 
   public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
   public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
+  public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.SHOOTER_TURRET_CAN_ID);
+  //Create motor CANSparkMax
   void ConfigureShooterMotorControllers() {
 
+  /*Turret Subsytem*/
+  
+
   }
 
 

src/main/java/frc4388/robot/subsystems/Turret.java

@@ -8,10 +8,30 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Turret extends SubsystemBase {
   /** Creates a new Turret. */
-  public Turret() {}
+ public CANSparkMax m_turretMotor;
+  //Variables
+  public Turret() {
+    m_turretMotor = turretMotor;
+  }
 
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
   }
+
+  public void turnWithJoystick (double input)
+  {
+    m_turretMotor.set(input);
+
+  }
+
+  //function turnWithJoystick(double input)
+  //   motor.set(input)
 }
+
+
+
+/** TODO
+* setPosition function
+* Limit switches
+**/