From c8bc774a668d2d5cd08bc5846d8c981247112785 Mon Sep 17 00:00:00 2001
From: McGrathMaggie <78870mm@gmail.com>
Date: Tue, 29 Oct 2024 17:54:21 -0600
Subject: [PATCH] added 2024 shooter code

---
 src/main/java/frc4388/robot/Constants.java    |  6 +++
 .../java/frc4388/robot/RobotContainer.java    |  8 +++-
 src/main/java/frc4388/robot/RobotMap.java     |  6 +++
 .../frc4388/robot/subsystems/Shooter.java     | 43 +++++++++++++++++++
 4 files changed, 62 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/frc4388/robot/subsystems/Shooter.java

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index ffc8487..1d62112 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -132,6 +132,12 @@ public final class Constants {
     public static final class DriveConstants {
         public static final int SMARTDASHBOARD_UPDATE_FRAME = 2;
     }
+
+    public static final class ShooterConstants {
+        public static final double SHOOTER_SPEED = .5;
+        public static final int LEFT_SHOOTER_ID = 15;
+        public static final int RIGHT_SHOOTER_ID = 16;
+    }
     
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 0;
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index eeb3054..9f6a83e 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -26,7 +26,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import frc4388.utility.controller.VirtualController;
 import frc4388.robot.commands.Swerve.neoJoystickPlayback;
 import frc4388.robot.commands.Swerve.neoJoystickRecorder;
-
+import frc4388.robot.subsystems.Shooter;
 // Subsystems
 // import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.SwerveDrive;
@@ -56,6 +56,8 @@ public class RobotContainer {
                                               
                                                                   m_robotMap.gyro);
 
+    public final Shooter m_robotShooter = new Shooter(m_robotMap.leftShooter, m_robotMap.rightShooter);
+
     /* Controllers */
     private final DeadbandedXboxController m_driverXbox   = new DeadbandedXboxController(OIConstants.XBOX_DRIVER_ID);
     private final DeadbandedXboxController m_operatorXbox = new DeadbandedXboxController(OIConstants.XBOX_OPERATOR_ID);    
@@ -151,6 +153,10 @@ public class RobotContainer {
             .onTrue(new InstantCommand(() -> m_robotSwerveDrive.shiftUpRot()));
           
         // ?  /* Operator Buttons */
+
+        DualJoystickButton(getDeadbandedOperatorController(), getVirtualOperatorController(), XboxController.LEFT_BUMPER_BUTTON)
+            .onTrue(new InstantCommand(() -> m_robotShooter.spin(), m_robotShooter))
+            .onFalse(new InstantCommand(() -> m_robotShooter.stop(), m_robotShooter));
             
         // ? /* Programer Buttons (Controller 3)*/
 
diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index 25bf208..0ac83b5 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -11,9 +11,11 @@ import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.hardware.CANcoder;
 import com.ctre.phoenix6.hardware.Pigeon2;
 
+import frc4388.robot.Constants.ShooterConstants;
 // import edu.wpi.first.wpilibj.motorcontrol.Spark;
 // import frc4388.robot.Constants.LEDConstants;
 import frc4388.robot.Constants.SwerveDriveConstants;
+import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.SwerveModule;
 import frc4388.utility.RobotGyro;
 
@@ -55,6 +57,10 @@ public class RobotMap {
     public final TalonFX rightBackSteer = new TalonFX(SwerveDriveConstants.IDs.RIGHT_BACK_STEER_ID);
     public final CANcoder rightBackEncoder = new CANcoder(SwerveDriveConstants.IDs.RIGHT_BACK_ENCODER_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);
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
new file mode 100644
index 0000000..877a78f
--- /dev/null
+++ b/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 com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ShooterConstants;
+import frc4388.robot.Constants;
+
+public class Shooter extends SubsystemBase {
+  /** Creates a new Shooter. */
+  TalonFX leftShooter;
+  TalonFX rightShooter;
+
+  public Shooter(TalonFX leftShooter, TalonFX rightShooter) {
+    this.leftShooter = leftShooter;
+    this.rightShooter = rightShooter;
+    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
+  }
+}