:))

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

@@ -11,6 +11,7 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 
+import edu.wpi.first.wpilibj.simulation.JoystickSim;
 import edu.wpi.first.wpilibj.smartdashboard.*;
 import edu.wpi.first.math.controller.BangBangController;
 import edu.wpi.first.math.controller.SimpleMotorFeedforward;
@@ -28,7 +29,7 @@ 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();
+// BangBangController m_controller = new BangBangController();
 
 double velP;
 double input;
@@ -39,33 +40,19 @@ public double m_fireVel;
 public Hood m_hoodSubsystem;
 public Turret m_turretSubsystem;
 
-SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later
+// SimpleMotorFeedforward feedforward = new SimpleMotorFeedforward(69, 42, 0); //get real values later
 
 
 
 /*
 * Creates new BoomBoom subsystem, has drum shooter and angle adjuster
 */
-public BoomBoom(){
-//Testing purposes resetting gyros
-//resetGryoAngleADj();
-//shooterTrims = new Trims(0,0);
-feedforward.calculate(15, 20); // feedforward.calculate(velocity, acceleration);
-
-
-}
   /** Creates a new BoomBoom. */
-  public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
+public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
   m_shooterFalconLeft = shooterFalconLeft;
   m_shooterFalconRight = shooterFalconRight;
-  
-    
-      
-      
-      m_shooterTable = new ShooterTables();
-  
-  
-  }
+  m_shooterTable = new ShooterTables();
+}
     
 
   @Override
@@ -92,7 +79,10 @@ try {
     m_hoodSubsystem = subsystem0;
     m_turretSubsystem = subsystem1;
   }
-
+/**
+ * Runs the Drum motor at a given speed
+ * @param speed percent output form -1.0 to 1.0
+ */
 public void runDrumShooter(double speed) {
     m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
     
@@ -114,7 +104,8 @@ public void setShooterGains() {
     //Controls a motor with the output of the BangBang conroller and a feedforward
     //Shrinks the feedforward slightly to avoid over speeding the shooter
     
+    
     // m_shooterFalconLeft.set(controller.calculate(encoder.getRate(), targetVel) + 0.9 * feedforward.calculate(targetVel));
-    m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel));
+    // m_shooterFalconLeft.set(m_controller.calculate(m_shooterFalconLeft.get(), targetVel));
   }
 }

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

@@ -42,14 +42,14 @@ public class Turret extends SubsystemBase {
   
   
   //Variables
-  public Turret() {
+  public Turret(CANSparkMax BoomBoomRotateMotor) { //Take in rotate motor as an argument
 
-    m_boomBoomRotateMotor = new CANSparkMax(30, MotorType.kBrushless);
+    m_boomBoomRotateMotor = BoomBoomRotateMotor;
     m_boomBoomRotatePIDController = m_boomBoomRotateMotor.getPIDController();
     m_boomBoomRotateEncoder = m_boomBoomRotateMotor.getEncoder();
     m_boomBoomRotateMotor.setIdleMode(IdleMode.kBrake);
   
-    m_turretGyro = getGyroInterface();
+  
     m_boomBoomLeftLimit = m_boomBoomRotateMotor.getReverseLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
     m_boomBoomRightLimit = m_boomBoomRotateMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
     m_boomBoomRightLimit.enableLimitSwitch(true);
@@ -57,14 +57,11 @@ public class Turret extends SubsystemBase {
 
     m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kForward, false);
     m_boomBoomRotateMotor.enableSoftLimit(SoftLimitDirection.kReverse, true);
-    m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT);
+    m_boomBoomRotateMotor.setSoftLimit(SoftLimitDirection.kForward, ShooterConstants.TURRET_RIGHT_SOFT_LIMIT); //Set second soft limit
     m_boomBoomRotateMotor.setInverted(false);
     
   }
 
-  private Gyro getGyroInterface() {
-    return null;
-  }
 
   @Override
   public void periodic() {
@@ -81,16 +78,18 @@ public class Turret extends SubsystemBase {
     m_sDriveSubsystem = subsystem1;
   }
 
-  public void runShooterWithInput(double input) {
+  public void runTurretWithInput(double input) { //Rename to turret
     m_boomBoomRotateMotor.set(input*ShooterConstants.TURRET_SPEED_MULTIPLIER);
   }
 
-  public void runshooterRotatePID(double targetAngle) {
+  public void runshooterRotatePID(double targetAngle) { //Split into configure and run
   m_boomBoomRotatePIDController.setP(m_shooterTGains.m_kP);
   m_boomBoomRotatePIDController.setI(m_shooterTGains.m_kI);
   m_boomBoomRotatePIDController.setD(m_shooterTGains.m_kD);
   m_boomBoomRotatePIDController.setFF(m_shooterTGains.m_kF);
   m_boomBoomRotatePIDController.setIZone(m_shooterTGains.m_kIzone);
+
+
   m_boomBoomRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTGains.m_kPeakOutput);
 
   targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
@@ -111,16 +110,5 @@ public class Turret extends SubsystemBase {
   public double getAnglePositionDegrees() {
     return (m_boomBoomRotateEncoder.getPosition() - ShooterConstants.TURRET_MOTOR_POS_AT_ZERO_ROT) * 360/ShooterConstants. TURRET_MOTOR_ROTS_PER_ROT;
   }
-  
 
-
-  //function turnWithJoystick(double input)
-  //   motor.set(input)
-}
-
-
-
-/** TODO
-* setPosition function
-* Limit switches
-**/
+}

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

@@ -37,6 +37,8 @@ public static double fireAngle;
 public double m_hoodTrim;
 public double m_turretTrim;
 public double m_fireAngle;
+
+
 public Vision(Turret aimSubsystem, BoomBoom boomBoom) {
   m_turret = aimSubsystem;
   m_boomBoom = boomBoom;