Merge branch 'pROgrammer' into temp-intake

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

@@ -34,7 +34,7 @@ public final class Constants {
         public static final double CORRECTION_MIN = 10;
         public static final double CORRECTION_MAX = 50;
         
-        public static final double[] GEARS = {0.25, 0.5, 1.0};
+        public static final double[] GEARS = {0.05, 0.25, 0.5, 1.0};
 
         public static final double SLOW_SPEED = 0.25;
         public static final double FAST_SPEED = 0.5;
@@ -146,7 +146,6 @@ public final class Constants {
         public static final double LEFT_AXIS_DEADBAND = 0.1;
 
     }
-
     public static final class IntakeConstants {
         public static final class IDs{
             public static final int PIVOTMOTOR_ID = 17;
@@ -158,4 +157,10 @@ public final class Constants {
         public static final double INTAKE_SPEED= 0.0;
         public static final double OUTTAKE_SPEED= 0.0;
     }
+    public static final class ShooterConstants
+    {
+        public static final int LEFT_SHOOTER_ID = 15;
+        public static final int RIGHT_SHOOTER_ID = 16;
+        public static final double SHOOTER_SPEED = 0.50;
+    }
 }

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

@@ -28,6 +28,8 @@ import frc4388.robot.commands.Swerve.neoJoystickPlayback;
 import frc4388.robot.commands.Swerve.neoJoystickRecorder;
 import frc4388.robot.subsystems.Intake;
 // Subsystems
+import frc4388.robot.subsystems.Shooter;
+
 // import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.SwerveDrive;
 
@@ -47,6 +49,7 @@ public class RobotContainer {
     public final RobotMap m_robotMap = new RobotMap();
     
     /* Subsystems */
+    public final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
     // private final LED m_robotLED = new LED();
     public final Intake m_robotIntake= new Intake(m_robotMap.pivotArm, m_robotMap.intakeWheel);
     public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.leftFront,
@@ -167,6 +170,13 @@ public class RobotContainer {
         DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(),  XboxController.A_BUTTON)
         .onTrue(new InstantCommand(()->m_robotIntake.handoff()))
         .onFalse(new InstantCommand(()-> m_robotIntake.stopIntakeMotor()));
+
+        /*Shooter*/
+
+        new JoystickButton(getDeadbandedOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotShooter.spin()))
+            .onFalse(new InstantCommand(() -> m_robotShooter.stop()));
+            
         // ? /* Programer Buttons (Controller 3)*/
 
         // * /* Auto Recording */

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

@@ -12,6 +12,7 @@ import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.Pigeon2;
 
 import frc4388.robot.Constants.IntakeConstants;
+import frc4388.robot.Constants.ShooterConstants;
 // import edu.wpi.first.wpilibj.motorcontrol.Spark;
 // import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
@@ -59,6 +60,11 @@ public class RobotMap {
     public final TalonFX pivotArm = new TalonFX(IntakeConstants.IDs.PIVOTMOTOR_ID);
     public final TalonFX intakeWheel = new TalonFX(IntakeConstants.IDs.INTAKEMOTOR_ID);
 
+    /* Shooter Subsystem */
+    public final TalonFX leftShooter = new TalonFX(ShooterConstants.LEFT_SHOOTER_ID);
+    public final TalonFX rightShooter = new TalonFX(ShooterConstants.RIGHT_SHOOTER_ID);
+
+
     void configureDriveMotorControllers() {
         // initialize SwerveModules
         this.rightFront = new SwerveModule(rightFrontWheel, rightFrontSteer, rightFrontEncoder, SwerveDriveConstants.DefaultSwerveRotOffsets.FRONT_RIGHT_ROT_OFFSET);

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

@@ -0,0 +1,43 @@
+// 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;
+import frc4388.robot.Constants.ShooterConstants;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+public class Shooter extends SubsystemBase {
+  private TalonFX leftShooter;
+  private TalonFX rightShooter;
+  /** Creates a new Shooter. */
+  public Shooter(TalonFX leftShooterMotor, TalonFX rightShooterMotor) {
+    leftShooter = leftShooterMotor;
+    rightShooter = rightShooterMotor;
+
+    leftShooter.setNeutralMode(NeutralModeValue.Coast);
+    rightShooter.setNeutralMode(NeutralModeValue.Coast);
+  }
+
+  public void spin(double speed) {
+    leftShooter.set(speed);
+    rightShooter.set(speed);
+  }
+
+  public void spin() {
+    spin(ShooterConstants.SHOOTER_SPEED);
+  }
+
+  public void stop() {
+    spin(0);
+  }
+
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}