Merge branch 'master' into add-ramsete-controller-and-trajectories

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

@@ -75,20 +75,26 @@ public final class Constants {
     }
     
     public static final class IntakeConstants {
-        public static final int INTAKE_SPARK_ID = 9;
-        public static final int EXTENDER_SPARK_ID = 10;
+        public static final int INTAKE_SPARK_ID = -9;
+        public static final int EXTENDER_SPARK_ID = -10;
     }
   
     public static final class ShooterConstants {
-        public static final int SHOOTER_FALCON_ID = 8;
+        /* Motor IDs */
+        public static final int SHOOTER_FALCON_ID = -1;
+        public static final int SHOOTER_ANGLE_ADJUST_ID = -1;
+        public static final int SHOOTER_ROTATE_ID = 10;
 
         /* PID Constants Shooter */
         public static final int SHOOTER_SLOT_IDX = 0;
         public static final int SHOOTER_PID_LOOP_IDX = 1;
         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);
-        
+        public static final Gains DRUM_SHOOTER_GAINS = new Gains(0.4, 0.0005, 13, 0.05, 0, 1.0);
+        public static final Gains SHOOTER_TURRET_GAINS = new Gains(0.2, 0.0, 0.0, 0.0, 0, 1.0);
+        public static final double SHOOTER_TURRET_MIN = -1.0;
         public static final double ENCODER_TICKS_PER_REV = 2048;
+        public static final double NEO_UNITS_PER_REV = 42;
+        public static final double DEGREES_PER_ROT = 360;
     }
     
     public static final class ClimberConstants {
@@ -100,7 +106,7 @@ public final class Constants {
     }
   
     public static final class StorageConstants {
-        public static final int STORAGE_CAN_ID = 10;
+        public static final int STORAGE_CAN_ID = -1;
 
         /* Ball Indexes */
         public static final int BEAM_SENSOR_DIO_0 = 0;
@@ -130,6 +136,17 @@ public final class Constants {
         public static final int LED_SPARK_ID = 0;
         public static final LEDPatterns DEFAULT_PATTERN = LEDPatterns.FOREST_WAVES;
     }
+    
+    public static final class VisionConstants {
+        public static final double FOV = 29.8; //Field of view of limelight
+        public static final double TARGET_HEIGHT = 82.75;
+        public static final double LIME_ANGLE = 18.7366;
+        public static final double TURN_P_VALUE = 0.65;
+        public static final double X_ANGLE_ERROR = 1.3;
+        public static final double MOTOR_DEAD_ZONE = 0.3;
+        public static final double DISTANCE_ERROR_EQUATION_M = 1.1279;
+        public static final double DISTANCE_ERROR_EQUATION_B = -15.0684;
+        }
 
     public static final class OIConstants {
         public static final int XBOX_DRIVER_ID = 0;

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

@@ -29,6 +29,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 
 import frc4388.robot.Constants.*;
 import frc4388.robot.commands.DriveStraightAtVelocityPID;
+import frc4388.robot.commands.DriveWithJoystick;
 import frc4388.robot.commands.DriveStraightToPositionMM;
 import frc4388.robot.commands.DriveStraightToPositionPID;
 import frc4388.robot.commands.DriveWithJoystick;
@@ -44,6 +45,11 @@ import frc4388.robot.subsystems.LED;
 import frc4388.robot.subsystems.Shooter;
 import frc4388.robot.subsystems.Climber;
 import frc4388.robot.commands.RunLevelerWithJoystick;
+import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Intake;
+import frc4388.robot.subsystems.LED;
+import frc4388.robot.commands.TrackTarget;
+import frc4388.robot.subsystems.Camera;
 import frc4388.robot.subsystems.Leveler;
 import frc4388.robot.subsystems.Storage;
 import frc4388.utility.LEDPatterns;
@@ -67,6 +73,10 @@ public class RobotContainer {
     private final Leveler m_robotLeveler = new Leveler();
     private final Storage m_robotStorage = new Storage();
 
+    /* Cameras */
+    private final Camera m_robotCameraFront = new Camera("front",0,160,120,40);
+    private final Camera m_robotCameraBack = new Camera("back",1,160,120,40);
+
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
     private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -87,11 +97,12 @@ 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));
+
+        m_robotShooter.setDefaultCommand(new RunCommand(() -> m_robotShooter.runShooterWithInput(m_operatorXbox.getLeftXAxis()), m_robotShooter));
         // drives the leveler with an axis input from the driver controller
-        m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
+    //    m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
         // runs storage motor at 50 percent
-        m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
+    //    m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
     }
 
     /**
@@ -107,12 +118,15 @@ public class RobotContainer {
 
         /* Operator Buttons */
         // activates "Lit Mode"
-        new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
-            .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
-            .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
+        //new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
+        //    .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
+        //    .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
       
         new JoystickButton(getOperatorJoystick(), XboxController.X_BUTTON)
             .whileHeld(new ShooterVelocityControlPID(m_robotShooter, 4000));
+            
+        new JoystickButton(getOperatorJoystick(), XboxController.Y_BUTTON)
+            .whileHeld(new TrackTarget(m_robotShooter));
         
         new JoystickButton(getOperatorJoystick(), XboxController.LEFT_BUMPER_BUTTON)
             .whenPressed(new RunExtenderOutIn(m_robotIntake));
@@ -134,6 +148,7 @@ public class RobotContainer {
         new JoystickButton(getDriverJoystick(), XboxController.Y_BUTTON)
             .whenPressed(new RunCommand(() -> m_robotDrive.driveWithInputAux(0.2, 0), m_robotDrive));
 
+
         // sets solenoids into high gear
         new JoystickButton(getDriverJoystick(), XboxController.RIGHT_BUMPER_BUTTON)
             .whenPressed(new InstantCommand(() -> m_robotDrive.setShiftState(true), m_robotDrive));
@@ -146,9 +161,14 @@ public class RobotContainer {
         new JoystickButton(getDriverJoystick(), XboxController.LEFT_JOYSTICK_BUTTON)
             .whenPressed(new InstantCommand(() -> System.out.print("Gamer"), m_robotDrive));
 
+        // safety for climber and leveler
+        new JoystickButton(getOperatorJoystick(), XboxController.BACK_BUTTON)
+            .whenPressed(new InstantCommand(() -> m_robotClimber.setSafetyPressed(), m_robotClimber))
+            .whenReleased(new InstantCommand(() -> m_robotClimber.setSafetyNotPressed(), m_robotClimber));
+
         /* Storage Neo PID Test */
         new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
-            .whileHeld(new RunCommand(() -> m_robotStorage.runStoragePositionPID(0.5, 0.2, 0.0, 0.0, 0.0, 0.0, 1, -1)));
+            .whileHeld(new TrackTarget(m_robotShooter));
     }
       
     /**

src/main/java/frc4388/robot/commands/PlaySongDrive.java

@@ -0,0 +1,52 @@
+/*----------------------------------------------------------------------------*/
+/* 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.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc4388.robot.subsystems.Drive;
+
+public class PlaySongDrive extends CommandBase {
+  private Drive m_drive;
+  
+  /**
+   * Creates a new PlaySongDrive.
+   */
+  public PlaySongDrive(Drive subsystem) {
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_drive = subsystem;
+    addRequirements(m_drive);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    m_drive.m_rightFrontMotor.set(0);
+    m_drive.m_leftFrontMotor.set(0);
+    m_drive.m_rightBackMotor.set(0);
+    m_drive.m_leftBackMotor.set(0);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_drive.playSong();
+    //System.err.println("Playing " + m_drive.m_orchestra.isPlaying());
+    //m_drive.m_driveTrain.feedWatchdog();
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/frc4388/robot/commands/TrackTarget.java

@@ -0,0 +1,84 @@
+/*----------------------------------------------------------------------------*/
+/* 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.commands;
+
+import frc4388.robot.Constants.VisionConstants;
+import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Shooter;
+import frc4388.utility.controller.IHandController;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableEntry;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class TrackTarget extends CommandBase {
+    //Setup
+  NetworkTableEntry xEntry;
+  Shooter m_shooter;
+  IHandController m_driverController;
+    //Aiming
+  double turnAmount = 0;
+  double xAngle = 0;
+  double yAngle = 0;
+  double target = 0;
+  public double distance;
+
+  /**
+   * Uses the Limelight to track the target
+   */
+  public TrackTarget(Shooter shooterSubsystem) {
+    m_shooter = shooterSubsystem;
+    addRequirements(m_shooter);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+      //Vision Processing Mode
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(0);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(3);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    target = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tv").getDouble(0);
+    xAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("tx").getDouble(0);
+    yAngle = NetworkTableInstance.getDefault().getTable("limelight").getEntry("ty").getDouble(0);
+    
+    if (target == 1.0){ //If target in view
+        //Aiming Left/Right
+      turnAmount = (xAngle/VisionConstants.FOV)*VisionConstants.TURN_P_VALUE;
+      if (Math.abs(xAngle) < VisionConstants.X_ANGLE_ERROR){turnAmount = 0;} //Angle Error Zone 
+        //Deadzones
+      else if(turnAmount > 0 && turnAmount < VisionConstants.MOTOR_DEAD_ZONE){turnAmount = VisionConstants.MOTOR_DEAD_ZONE;} 
+      else if(turnAmount < 0 && turnAmount > -VisionConstants.MOTOR_DEAD_ZONE){turnAmount = -VisionConstants.MOTOR_DEAD_ZONE;}
+      m_shooter.runShooterWithInput(turnAmount/5);
+
+        //Finding Distance
+      distance = VisionConstants.TARGET_HEIGHT/Math.tan((VisionConstants.LIME_ANGLE + yAngle)*(Math.PI/180));
+      SmartDashboard.putNumber("Distance to Target", distance);
+    }
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+      //Drive Camera Mode
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("camMode").setNumber(1);
+    NetworkTableInstance.getDefault().getTable("limelight").getEntry("ledMode").setNumber(0);
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

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

@@ -0,0 +1,47 @@
+/*----------------------------------------------------------------------------*/
+/* 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 edu.wpi.cscore.MjpegServer;
+import edu.wpi.cscore.UsbCamera;
+import edu.wpi.cscore.VideoSource;
+import edu.wpi.first.cameraserver.CameraServer;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+
+
+public class Camera extends SubsystemBase {
+  CameraServer camServ = CameraServer.getInstance();
+  /**
+   * Creates a new Camera.
+   * Makes a Camera and sends the stream to a CameraServer, to be viewed in Shuffle Board.
+   * @param name Name of the Camera in Shuffle Board.
+   * @param id USB Id of the Camera.
+   * @param width Resolution width.
+   * @param height Resolution height.
+   * @param brightness Percent brightness of the stream.
+   */
+  public Camera(String name, int id, int width, int height, int brightness) {
+    try{
+      UsbCamera cam = new UsbCamera(name, id);
+      cam.setResolution(width, height);
+      cam.setBrightness(brightness);
+      cam.setFPS(10);
+      VideoSource camera = cam;
+      camServ.startAutomaticCapture(camera);
+    } 
+    catch(Exception e){
+      System.err.println("Camera broken, pls nerf");
+    }
+
+  }
+
+  @Override
+  public void periodic() {
+  }
+}

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

@@ -19,6 +19,9 @@ import frc4388.robot.Constants.ClimberConstants;
 public class Climber extends SubsystemBase {
   CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
   CANDigitalInput m_climberForwardLimit, m_climberReverseLimit;
+
+  public boolean climberSafety = false;
+
   /**
    * Creates a new Climber.
    */
@@ -44,6 +47,23 @@ public class Climber extends SubsystemBase {
    * @param input the voltage to run motor at
    */
   public void runClimber(double input) {
-    m_climberMotor.set(input);
+    if(climberSafety){
+      m_climberMotor.set(input);
+    }
+    else{
+      m_climberMotor.set(0);
+    }
+  }
+
+  /* Safety Button for Climber */
+  public void setSafetyPressed()
+  {
+    climberSafety = true;
+  }
+
+  /* Safety Button for Climber set back to false */
+  public void setSafetyNotPressed()
+  {
+    climberSafety = false;
   }
 }

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

@@ -7,6 +7,16 @@
 
 package frc4388.robot.subsystems;
 
+import java.io.File;
+import java.io.FilenameFilter;
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.stream.Collectors;
+import java.util.stream.Stream;
 import com.ctre.phoenix.motorcontrol.ControlMode;
 import com.ctre.phoenix.motorcontrol.DemandType;
 import com.ctre.phoenix.motorcontrol.FeedbackDevice;
@@ -18,16 +28,20 @@ import com.ctre.phoenix.motorcontrol.SensorTerm;
 import com.ctre.phoenix.motorcontrol.StatusFrame;
 import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+import com.ctre.phoenix.music.Orchestra;
 import com.ctre.phoenix.sensors.PigeonIMU;
 import com.ctre.phoenix.sensors.PigeonIMU_StatusFrame;
 
+import edu.wpi.first.wpilibj.Filesystem;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
+
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import edu.wpi.first.wpilibj.geometry.Pose2d;
 import edu.wpi.first.wpilibj.geometry.Rotation2d;
 import edu.wpi.first.wpilibj.kinematics.ChassisSpeeds;
 import edu.wpi.first.wpilibj.kinematics.DifferentialDriveOdometry;
-import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds;
+import edu.wpi.first.wpilibj.kinematics.DifferentialDriveWheelSpeeds
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets;
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard;
 import edu.wpi.first.wpilibj.smartdashboard.SendableChooser;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -48,6 +62,7 @@ public class Drive extends SubsystemBase {
   public WPI_TalonFX m_leftBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_LEFT_BACK_CAN_ID);
   public WPI_TalonFX m_rightBackMotor = new WPI_TalonFX(DriveConstants.DRIVE_RIGHT_BACK_CAN_ID);
   public static PigeonIMU m_pigeon = new PigeonIMU(DriveConstants.PIGEON_ID);
+  public Orchestra m_orchestra = new Orchestra();
 
   public double m_rightFrontMotorPos;
 
@@ -67,7 +82,6 @@ public class Drive extends SubsystemBase {
   public DoubleSolenoid m_coolFalcon;
 
   public int m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
-
   public long m_lastTime, m_deltaTime; //in milliseconds
 
   public double m_lastAngleYaw, m_currentAngleYaw, m_kinematicsTargetAngle;
@@ -99,7 +113,7 @@ public class Drive extends SubsystemBase {
     /* flip input so forward becomes back, etc */
     m_leftFrontMotor.setInverted(false);
     m_rightFrontMotor.setInverted(true);
-    m_driveTrain.setRightSideInverted(false);
+    //m_driveTrain.setRightSideInverted(false);
     m_leftBackMotor.setInverted(InvertType.FollowMaster);
     m_rightBackMotor.setInverted(InvertType.FollowMaster);
 
@@ -268,8 +282,22 @@ public class Drive extends SubsystemBase {
     m_rightFrontMotor.configAuxPIDPolarity(false, DriveConstants.DRIVE_TIMEOUT_MS);
 
     m_lastTime = System.currentTimeMillis();
+    
+    m_orchestra.addInstrument(m_leftBackMotor);
+    m_orchestra.addInstrument(m_rightFrontMotor);
+    m_orchestra.addInstrument(m_rightBackMotor);
+    m_orchestra.addInstrument(m_leftFrontMotor);
+
+    File songsDir = new File(Filesystem.getDeployDirectory().getAbsolutePath() + "/songs");
+    System.err.println(songsDir.getPath());
+    String[] songsStrings = songsDir.list();
+    for (String songString : songsStrings){
+      m_songChooser.addOption(songString, songsDir.getAbsolutePath() + "/" + songString);
+    }
+    Shuffleboard.getTab("Songs").add(m_songChooser);
   }
 
+  String currentSong = "";
   @Override
   public void periodic() {
     m_currentTimeSec = (int)(System.currentTimeMillis() / 1000);
@@ -326,6 +354,11 @@ public class Drive extends SubsystemBase {
       SmartDashboard.putNumber("Time Seconds", m_currentTimeSec);
       //SmartDashboard.putNumber("Delta Time", m_deltaTime);
 
+      if (currentSong != m_songChooser.getSelected()){
+        currentSong = m_songChooser.getSelected();
+        selectSong(currentSong);
+        System.err.println(currentSong);
+      }
     } catch (Exception e) {
       System.err.println("Error in the Drive Subsystem");
       // e.printStackTrace(System.err);
@@ -389,7 +422,7 @@ public class Drive extends SubsystemBase {
     m_leftBackMotor.follow(m_leftFrontMotor);
     m_rightBackMotor.follow(m_rightFrontMotor);
 
-    m_driveTrain.feedWatchdog();
+    //m_driveTrain.feedWatchdog();
   }
 
   /**
@@ -407,7 +440,7 @@ public class Drive extends SubsystemBase {
     m_leftBackMotor.follow(m_leftFrontMotor);
     m_rightBackMotor.follow(m_rightFrontMotor);
 
-    m_driveTrain.feedWatchdog();
+    //m_driveTrain.feedWatchdog();
   }
 
   /**
@@ -425,6 +458,7 @@ public class Drive extends SubsystemBase {
     m_rightBackMotor.follow(m_rightFrontMotor);
 
     m_driveTrain.feedWatchdog();
+
   }
 
   /**
@@ -648,6 +682,21 @@ public class Drive extends SubsystemBase {
   }
   
   /*
+   * Plays Music!
+   */
+  public void playSong() {
+    m_orchestra.play();
+  }
+
+  /**
+   * Selects a song to play!
+   * @param song The name of the song to be played
+   */
+  public void selectSong(String song) {
+    SmartDashboard.putString("Selected Song", song);
+    m_orchestra.loadMusic(song);
+  }
+  /**
    * Set to high or low gear based on boolean state, true = high, false = low
    * @param state Chooses between high or low gear
    */

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

@@ -17,10 +17,13 @@ import com.revrobotics.CANSparkMaxLowLevel.MotorType;
 import edu.wpi.first.wpilibj.Talon;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.Constants.LevelerConstants;
+import frc4388.robot.subsystems.*;
 
 public class Leveler extends SubsystemBase {
   CANSparkMax m_levelerMotor = new CANSparkMax(LevelerConstants.LEVELER_CAN_ID, MotorType.kBrushless);
 
+  private final Climber m_robotClimber = new Climber();
+
   /**
    * Creates a new Leveler.
    */
@@ -41,6 +44,11 @@ public class Leveler extends SubsystemBase {
    * @param input the percent output to run motor at
    */
   public void runLeveler(double input) {
-    m_levelerMotor.set(input);
+    if(m_robotClimber.climberSafety){
+      m_levelerMotor.set(input);
+    }
+    else{
+      m_levelerMotor.set(0);
+    }
   }
 }

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

@@ -11,25 +11,54 @@ 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.CANEncoder;
+import com.revrobotics.CANPIDController;
+import com.revrobotics.ControlType;
+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 CANSparkMax m_angleAdjustMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
+  public CANSparkMax m_shooterRotateMotor = new CANSparkMax(ShooterConstants.SHOOTER_ROTATE_ID, MotorType.kBrushless);
 
-  public static Gains m_shooterGains = ShooterConstants.SHOOTER_GAINS;
+
+  public static Gains m_shooterTurretGains = ShooterConstants.SHOOTER_TURRET_GAINS;
+  public static Gains m_drumShooterGains = ShooterConstants.DRUM_SHOOTER_GAINS;
+  public static Shooter m_shooter;
+  public static IHandController m_controller;
+
+
+  // Configure PID Controllers
+  CANPIDController m_angleAdjustPIDController = m_angleAdjustMotor.getPIDController();
+  CANPIDController m_shooterRotatePIDController = m_shooterRotateMotor.getPIDController();
+
+  CANEncoder m_angleEncoder = m_angleAdjustMotor.getEncoder();
+  CANEncoder m_shooterRotateEncoder = m_shooterRotateMotor.getEncoder();
 
   double velP;
-  /**
+  double input;
+  
+  /*
    * Creates a new Shooter subsystem.
    */
   public Shooter() {
-    m_shooterFalcon.configFactoryDefault();
+    //Testing purposes reseting gyros
+    resetGyroAngleAdj();
+    resetGyroShooterRotate();
 
+    m_shooterFalcon.configFactoryDefault();
+    m_shooterRotateMotor.setIdleMode(IdleMode.kBrake);
     m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
     m_shooterFalcon.setInverted(false);
     
@@ -63,10 +92,10 @@ public class Shooter extends SubsystemBase {
    */
   public void setShooterGains() {
     m_shooterFalcon.selectProfileSlot(ShooterConstants.SHOOTER_SLOT_IDX, ShooterConstants.SHOOTER_PID_LOOP_IDX);
-    m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kF(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kF, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kP(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kP, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kI(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kI, ShooterConstants.SHOOTER_TIMEOUT_MS);
+    m_shooterFalcon.config_kD(ShooterConstants.SHOOTER_SLOT_IDX, m_shooterTurretGains.m_kD, ShooterConstants.SHOOTER_TIMEOUT_MS);
   }
   /**
    * Runs drum shooter velocity PID.
@@ -86,4 +115,55 @@ public class Shooter extends SubsystemBase {
       m_shooterFalcon.set(TalonFXControlMode.Velocity, targetVel); //Init PID
     }
   }
+
+
+  public void runShooterWithInput(double input) {
+    m_shooterRotateMotor.set(input);
+  }
+
+  /* Angle Adjustment PID Control */
+  public void runAngleAdjustPID(double targetAngle)
+  {
+    // Set PID Coefficients
+    m_angleAdjustPIDController.setP(m_shooterTurretGains.m_kP);
+    m_angleAdjustPIDController.setI(m_shooterTurretGains.m_kI);
+    m_angleAdjustPIDController.setD(m_shooterTurretGains.m_kD);
+    m_angleAdjustPIDController.setIZone(m_shooterTurretGains.m_kIzone);
+    m_angleAdjustPIDController.setFF(m_shooterTurretGains.m_kF);
+    m_angleAdjustPIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTurretGains.m_kPeakOutput); 
+
+    // Convert input angle in degrees to rotations of the motor
+    targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
+
+    m_angleAdjustPIDController.setReference(targetAngle, ControlType.kPosition);
+  }
+
+  /* Rotate Shooter PID Control */
+  public void runshooterRotatePID(double targetAngle)
+  {
+    // Set PID Coefficients
+    m_shooterRotatePIDController.setP(m_shooterTurretGains.m_kP);
+    m_shooterRotatePIDController.setI(m_shooterTurretGains.m_kI);
+    m_shooterRotatePIDController.setD(m_shooterTurretGains.m_kD);
+    m_shooterRotatePIDController.setFF(m_shooterTurretGains.m_kF);
+    m_shooterRotatePIDController.setIZone(m_shooterTurretGains.m_kIzone);
+    m_shooterRotatePIDController.setOutputRange(ShooterConstants.SHOOTER_TURRET_MIN, m_shooterTurretGains.m_kPeakOutput); 
+
+    // Convert input angle in degrees to rotations of the motor
+    targetAngle = targetAngle/ShooterConstants.DEGREES_PER_ROT;
+
+    m_shooterRotatePIDController.setReference(targetAngle, ControlType.kPosition);
+  }
+
+  /* For Testing Purposes, reseting gyro for angle adjuster */
+  public void resetGyroAngleAdj()
+  {
+    m_angleEncoder.setPosition(0);
+  }
+
+  /* For Testing Purposes, reseting gyro for shooter rotation */
+  public void resetGyroShooterRotate()
+  {
+    m_shooterRotateEncoder.setPosition(0);
+  }
 }

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()