From 24a2a43a44c473dc4cc24be667c2274e27ac1ca3 Mon Sep 17 00:00:00 2001
From: Kerem <59713772+KyraRivera@users.noreply.github.com>
Date: Sat, 15 Feb 2020 13:34:53 -0700
Subject: [PATCH] Made Janky Code

Added Manual Shooter
---
 src/main/java/frc4388/robot/Constants.java    |  4 ++
 .../java/frc4388/robot/RobotContainer.java    |  6 ++-
 .../frc4388/robot/subsystems/Shooter.java     | 38 +++++++++++++++++--
 .../frc4388/robot/subsystems/Storage.java     |  8 ----
 4 files changed, 44 insertions(+), 12 deletions(-)

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index e05af11..9cd89a2 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -79,6 +79,10 @@ public final class Constants {
         public static final int SHOOTER_TIMEOUT_MS = 30;
         public static final Gains SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
         
+        //#Janky
+        public static final int SHOOTERROTATION_SPARK_ID = 9;
+        //#Janky
+        
         public static final double ENCODER_TICKS_PER_REV = 2048;
     }
     
diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java
index a431921..a1ee52b 100644
--- a/src/main/java/frc4388/robot/RobotContainer.java
+++ b/src/main/java/frc4388/robot/RobotContainer.java
@@ -72,7 +72,11 @@ public class RobotContainer {
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
         // runs the drum shooter in idle mode
-        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runDrumShooter(0.15), m_robotShooter));
+
+        //#Janky
+        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox), m_robotShooter));
+        //#Janky
+
         // drives the leveler with an axis input from the driver controller
         m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
         // runs storage motor at 50 percent
diff --git a/src/main/java/frc4388/robot/subsystems/Shooter.java b/src/main/java/frc4388/robot/subsystems/Shooter.java
index f8649ae..438bfc1 100644
--- a/src/main/java/frc4388/robot/subsystems/Shooter.java
+++ b/src/main/java/frc4388/robot/subsystems/Shooter.java
@@ -10,26 +10,36 @@ 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 com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMax.IdleMode;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.Joystick;
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Gains;
 import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.Constants.ShooterConstants;
+import frc4388.utility.controller.IHandController;
 
 public class Shooter extends SubsystemBase {
 
   public WPI_TalonFX m_shooterFalcon = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_ID);
 
   public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
-
+  public static Shooter m_shooter;
+  public static IHandController m_controller;
   double velP;
-  /**
+  double input;
+  public static CANSparkMax m_shooterRotate = new CANSparkMax(ShooterConstants.SHOOTERROTATION_SPARK_ID, MotorType.kBrushless);
+  
+  /*
    * Creates a new Shooter subsystem.
    */
   public Shooter() {
     m_shooterFalcon.configFactoryDefault();
-
+    m_shooterRotate.setIdleMode(IdleMode.kBrake);
     m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
     m_shooterFalcon.setInverted(false);
     
@@ -86,4 +96,26 @@ public class Shooter extends SubsystemBase {
       m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
     }
   }
+  //PLZ Help I Have No Idea What I Am Doing
+  //Help PLZ
+  //I Am Desperate
+  //PLZ
+  //PLZ
+  //With A Cherry On Top
+
+
+
+
+  //#Janky
+  public void runShooterWithInput(IHandController controller) {
+    /* m_controller = controller;
+     input = controller.getLeftXAxis();
+     * System.err.println(input);
+     * m_shooterFalcon.set(TalonFXControlMode.PercentOutput, 0.3);
+     */
+    input = controller.getLeftXAxis();
+    System.err.println(input);
+    m_shooterRotate.set(input);
+  }
+  //#Janky
 }
\ No newline at end of file
diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java
index 84f01ec..f14295b 100644
--- a/src/main/java/frc4388/robot/subsystems/Storage.java
+++ b/src/main/java/frc4388/robot/subsystems/Storage.java
@@ -15,7 +15,6 @@ import com.revrobotics.CANSparkMax;
 import com.revrobotics.ControlType;
 import com.revrobotics.SparkMax;
 import com.revrobotics.CANSparkMaxLowLevel.MotorType;
-
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.Encoder;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -57,13 +56,6 @@ public class Storage extends SubsystemBase {
   public void runStorage(final double input) {
     m_storageMotor.set(input);
     final boolean beam_on = m_beamSensors[0].get();
-
-    if (beam_on) {
-      System.err.println("Beam on");
-    } else {
-      System.err.println("Beam off");
-    }
-
   }
 
   public void resetEncoder()