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

This reverts commit 6d53d0431a.

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

@@ -94,9 +94,9 @@ public final class Constants {
     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; 
-    public static final int SHOOTER_ROTATE_ID = 0; //"unknown value" //figure out later
+    public static final int SHOOTER_ROTATE_ID = 31; //"unknown value" //figure out later
     public static final int TURRET_RIGHT_SOFT_LIMIT = 0; //""//
-    public static final int TURRET_SPEED_MULTIPLIER = 0; //""//
+    public static final double TURRET_SPEED_MULTIPLIER = 0.1d; //""//
     public static final int DEGREES_PER_ROT = 0; //""//
     public static final int TURRET_MOTOR_POS_AT_ZERO_ROT = 0; //""//
     public static final int TURRET_MOTOR_ROTS_PER_ROT = 0; //""//
@@ -105,7 +105,7 @@ public final class Constants {
    
     /* Turret Constants */
     //ID
-    public static final int TURRET_MOTOR_CAN_ID = 0;
+    public static final int TURRET_MOTOR_CAN_ID = 30;
     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;

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

@@ -73,11 +73,11 @@ public class RobotContainer {
 
     m_robotTurret.setDefaultCommand(
       new RunCommand(() -> m_robotTurret.runShooterWithInput(getOperatorController().getLeftXAxis()), m_robotTurret)
-    );
-    
+      );
+      // m_robotTurret.setDefaultCommand(
+      //     new RunCommand(() -> m_robotTurret.aimToCenter()));
+  }
 
-    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

@@ -6,6 +6,8 @@ package frc4388.robot;
 
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.CANCoder;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import frc4388.robot.Constants.LEDConstants;
@@ -97,7 +99,7 @@ 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);
+  public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
   //Create motor CANSparkMax
   void ConfigureShooterMotorControllers() {
 

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

@@ -4,6 +4,7 @@
 
 package frc4388.robot.subsystems;
 
+import java.io.Console;
 import java.util.Base64.Encoder;
 
 import com.ctre.phoenix.motorcontrol.NeutralMode;
@@ -27,6 +28,7 @@ public ShooterTables m_shooterTable;
 public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
 public static BoomBoom m_boomBoom;
 public static IHandController m_driverController; //not sure if driverController in 2022 = m_controller in 2020
+BangBangController m_controller = new BangBangController();
 
 double velP;
 double input;
@@ -135,7 +137,6 @@ public void setShooterGains() {
     m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init
     m_shooterFalconRight.follow(m_shooterFalconLeft);
     // New BoomBoom controller stuff 
-    BangBangController controller = new BangBangController();
     //Controls a motor with the output of the BangBang controller
     //Controls a motor with the output of the BangBang conroller and a feedforward
     //Shrinks the feedforward slightly to avoid over speeding the shooter
@@ -143,4 +144,4 @@ public void setShooterGains() {
     
   
   }
-}
+}

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

@@ -67,11 +67,11 @@ public class Turret extends SubsystemBase {
 
   @Override
   public void periodic() {
-    SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition());
+    // SmartDashboard.putNumber("Turret Angle Raw", getboomBoomRotatePosition());
 
-    SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro);
+    // SmartDashboard.putData("Turret Angle", (Sendable) m_turretGyro);
 
-    SmartDashboard.putBoolean("Turret Aimed", m_isAimReady);
+    // SmartDashboard.putBoolean("Turret Aimed", m_isAimReady);
     // This method will be called once per scheduler run
   }