stuff happened

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

@@ -4,6 +4,8 @@
 
 package frc4388.robot;
 
+import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
+
 import frc4388.utility.Gains;
 import frc4388.utility.LEDPatterns;
 
@@ -80,4 +82,13 @@ public final class Constants {
     public static final int XBOX_DRIVER_ID = 0;
     public static final int XBOX_OPERATOR_ID = 1;
   }
+  public static final class ShooterConstants {
+    /* PID Constants Shooter */
+    public static final int SHOOTER_TIMEOUT_MS = 30;
+    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);
+
+    
+  }
 }

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

@@ -10,8 +10,12 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
+import frc4388.robot.subsystems.BoomBoom;
+import frc4388.robot.subsystems.Hood;
 import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.SwerveDrive;
+import frc4388.robot.subsystems.Turret;
+import frc4388.robot.subsystems.Vision;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
 import frc4388.utility.controller.XboxController;
@@ -40,7 +44,10 @@ public class RobotContainer {
   );
 
   private final LED m_robotLED = new LED(m_robotMap.LEDController);
-
+  private final BoomBoom m_robotBoomBoom = new BoomBoom();
+  private final Hood m_robotHood = new Hood();
+  private final Turret m_robotTurret = new Turret();
+  private final Vision m_robotVison = new Vision();
   /* Controllers */
   private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
   private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);

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

@@ -90,6 +90,9 @@ public class RobotMap {
     //leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
     //rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
     //rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    /*Boom Boom Subsystem*/
+    
   }
 
+
 }

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

@@ -0,0 +1,69 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ShooterConstants;
+import frc4388.utility.ShooterTables;
+
+public class BoomBoom extends SubsystemBase {
+public WPI_TalonFX m_shooterFalconLeft;
+public WPI_TalonFX m_shooterFalconRight;
+public ShooterTables m_shooterTable;
+
+  /** Creates a new BoomBoom. */
+  public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
+  m_shooterFalconLeft = shooterFalconLeft;
+  m_shooterFalconRight = shooterFalconRight;
+  
+    int closedLoopTimeMs = 1;
+      //LEFT FALCON
+      m_shooterFalconLeft.configFactoryDefault();
+      m_shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
+      m_shooterFalconLeft.setInverted(true);
+      m_shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      
+      //RIGHT FALCON
+      m_shooterFalconRight.configFactoryDefault();
+      m_shooterFalconRight.setNeutralMode(NeutralMode.Coast);
+      m_shooterFalconRight.setInverted(false);
+      m_shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      //m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
+      m_shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconRight.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      
+      m_shooterTable = new ShooterTables();
+  
+  
+  }
+    
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+    // Abhi was here 
+  }
+public void runDrumShooter(double speed) {
+    m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
+    m_shooterFalconRight.follow(m_shooterFalconLeft);
+  }    
+
+
+  public void runDrumShooterVelocityPID(double targetVel) {
+    m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init
+    m_shooterFalconRight.follow(m_shooterFalconLeft);
+    }
+}

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

@@ -0,0 +1,17 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Hood extends SubsystemBase {
+  /** Creates a new Hood. */
+  public Hood() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -0,0 +1,17 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Turret extends SubsystemBase {
+  /** Creates a new Turret. */
+  public Turret() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

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

@@ -0,0 +1,17 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Vision extends SubsystemBase {
+  /** Creates a new Vision. */
+  public Vision() {}
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}