From 29593564c2bd14a63f2b88bf5db178d29403eb72 Mon Sep 17 00:00:00 2001
From: RishabhCowlagi <59751356+RishabhCowlagi@users.noreply.github.com>
Date: Tue, 28 Jan 2020 17:07:49 -0800
Subject: [PATCH] Add Basic Storage Code

---
 src/main/java/frc4388/robot/Constants.java    | 10 ++-
 .../frc4388/robot/subsystems/Storage.java     | 48 +++++++++++++
 vendordeps/REVRobotics.json                   | 70 +++++++++++++++++++
 3 files changed, 127 insertions(+), 1 deletion(-)
 create mode 100644 src/main/java/frc4388/robot/subsystems/Storage.java
 create mode 100644 vendordeps/REVRobotics.json

diff --git a/src/main/java/frc4388/robot/Constants.java b/src/main/java/frc4388/robot/Constants.java
index 793ce5c..eb408fa 100644
--- a/src/main/java/frc4388/robot/Constants.java
+++ b/src/main/java/frc4388/robot/Constants.java
@@ -29,7 +29,15 @@ public final class Constants {
     public static final class IntakeConstants {
         public static final int INTAKE_SPARK_ID = 1;
     }
-
+    public static final class StorageConstants {
+        public static final int STORAGE_TALON_ID = 9;
+        public static final int BEAM_SENSOR_DIO_0 = 0;
+        public static final int BEAM_SENSOR_DIO_1 = 1;
+        public static final int BEAM_SENSOR_DIO_2 = 2;
+        public static final int BEAM_SENSOR_DIO_3 = 3;
+        public static final int BEAM_SENSOR_DIO_4 = 0;
+        public static final int BEAM_SENSOR_DIO_5 = 0;
+    }
     public static final class LEDConstants {
         public static final int LED_SPARK_ID = 0;
 
diff --git a/src/main/java/frc4388/robot/subsystems/Storage.java b/src/main/java/frc4388/robot/subsystems/Storage.java
new file mode 100644
index 0000000..7b85a0d
--- /dev/null
+++ b/src/main/java/frc4388/robot/subsystems/Storage.java
@@ -0,0 +1,48 @@
+/*----------------------------------------------------------------------------*/
+/* Copyright (c) 2019 FIRST. All Rights Reserved.                             */
+/* Open Source Software - may be modified and shared by FRC teams. The code   */
+/* must be accompanied by the FIRST BSD license file in the root directory of */
+/* the project.                                                               */
+/*----------------------------------------------------------------------------*/
+
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import frc4388.robot.Constants.StorageConstants;
+
+public class Storage extends SubsystemBase {
+  private CANSparkMax m_storageMotor = new CANSparkMax(StorageConstants.STORAGE_TALON_ID, MotorType.kBrushless);
+  private DigitalInput[] m_beamSensors = new DigitalInput[6];
+  /**
+   * Creates a new Storage.
+   */
+  public Storage() {
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_0);
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_1);
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_2);
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_3);
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_4);
+    m_beamSensors[0] = new DigitalInput(StorageConstants.BEAM_SENSOR_DIO_5);
+  }
+
+  @Override
+  public void periodic() {
+    // NO
+  }
+
+  /**
+   * Runs storage motor
+   * @param input the voltage to run motor at
+   */
+  public void runStorage(double input) {
+    m_storageMotor.set(input);
+    boolean beam_on = m_beamSensors[0].get();
+  }
+}
diff --git a/vendordeps/REVRobotics.json b/vendordeps/REVRobotics.json
new file mode 100644
index 0000000..63380b6
--- /dev/null
+++ b/vendordeps/REVRobotics.json
@@ -0,0 +1,70 @@
+{
+    "fileName": "REVRobotics.json",
+    "name": "REVRobotics",
+    "version": "1.5.1",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "http://www.revrobotics.com/content/sw/max/sdk/maven/"
+    ],
+    "jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "SparkMax-java",
+            "version": "1.5.1"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "SparkMax-driver",
+            "version": "1.5.1",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "SparkMax-cpp",
+            "version": "1.5.1",
+            "libName": "SparkMax",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "SparkMax-driver",
+            "version": "1.5.1",
+            "libName": "SparkMaxDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ]
+        }
+    ]
+}
\ No newline at end of file