From c26fa62747e024c182987253aaa87a1ed2ae7bee Mon Sep 17 00:00:00 2001
From: aarav18 <aaravshah18@gmail.com>
Date: Sun, 6 Mar 2022 00:24:47 -0700
Subject: [PATCH] hood change

---
 src/main/java/frc4388/robot/RobotContainer.java  |  4 ++--
 src/main/java/frc4388/robot/RobotMap.java        | 16 +++++++++++-----
 src/main/java/frc4388/robot/subsystems/Hood.java |  7 ++++---
 3 files changed, 17 insertions(+), 10 deletions(-)

diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index f1445e2..1f8fb2e 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -95,11 +95,11 @@ public class RobotContainer {
   private final Storage m_robotStorage = new Storage(m_robotMap.storageMotor, m_robotMap.beamIntake, m_robotMap.beamShooter);
   private final LED m_robotLED = new LED(m_robotMap.LEDController);
   private final BoomBoom m_robotBoomBoom = new BoomBoom(m_robotMap.shooterFalconLeft, m_robotMap.shooterFalconRight);
-  private final Hood m_robotHood = new Hood();
+  private final Hood m_robotHood = new Hood(m_robotMap.angleAdjusterMotor);
   private final Turret m_robotTurret = new Turret(m_robotMap.shooterTurret);
   private final VisionOdometry m_robotVisionOdometry = new VisionOdometry(m_robotSwerveDrive, m_robotTurret);
   private final Vision m_robotVision = new Vision(m_robotTurret, m_robotBoomBoom);
-
+  
   /* Controllers */
   private final XboxController m_driverXbox = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
   private final XboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index f41012d..47ee185 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -13,6 +13,7 @@ import com.ctre.phoenix.sensors.CANCoder;
 import com.ctre.phoenix.sensors.WPI_PigeonIMU;
 
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
 import edu.wpi.first.wpilibj.DigitalInput;
@@ -32,17 +33,15 @@ import frc4388.robot.subsystems.SwerveModule;
 public class RobotMap {
 
   public RobotMap() {
-    // configureLEDMotorControllers();
+    configureLEDMotorControllers();
     configureSwerveMotorControllers();
-    // configureShooterMotorControllers();
+    configureShooterMotorControllers();
   }
 
   /* LED Subsystem */
   public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
 
-  void configureLEDMotorControllers() {
-
-  }
+  void configureLEDMotorControllers() {}
 
   /* Swerve Subsystem */
 
@@ -167,8 +166,12 @@ public class RobotMap {
   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);
 
+  // turret subsystem
   public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
 
+  // hood subsystem
+  public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
+
   // Create motor CANSparkMax
   void configureShooterMotorControllers() {
 
@@ -209,6 +212,9 @@ public class RobotMap {
     // SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
     // numbers out of our ass anymore
 
+    // hood subsystem
+    angleAdjusterMotor.restoreFactoryDefaults();
+    angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
   }
 
 
diff --git a/src/main/java/frc4388/robot/subsystems/Hood.java b/src/main/java/frc4388/robot/subsystems/Hood.java
index b811a37..e9efe67 100644
--- a/src/main/java/frc4388/robot/subsystems/Hood.java
+++ b/src/main/java/frc4388/robot/subsystems/Hood.java
@@ -24,7 +24,7 @@ import frc4388.utility.Gains;
 public class Hood extends SubsystemBase {
   public BoomBoom m_shooterSubsystem;
   
-  public CANSparkMax m_angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
+  public CANSparkMax m_angleAdjusterMotor;
   public SparkMaxLimitSwitch m_hoodUpLimitSwitch;
   public SparkMaxLimitSwitch m_hoodDownLimitSwitch;
   public static Gains m_angleAdjusterGains = ShooterConstants.SHOOTER_ANGLE_GAINS;
@@ -39,8 +39,9 @@ public double m_fireAngle;
   
 
   /** Creates a new Hood. */
-  public Hood() {
-     m_angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
+  public Hood(CANSparkMax angleAdjusterMotor) {
+
+    m_angleAdjusterMotor = angleAdjusterMotor;
 
     m_hoodUpLimitSwitch = m_angleAdjusterMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
     m_hoodDownLimitSwitch = m_angleAdjusterMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);