SparkMax test code >B)

simgui-window.json

@@ -18,12 +18,12 @@
     },
     "###Joysticks": {
       "Collapsed": "0",
-      "Pos": "250,465",
+      "Pos": "208,458",
       "Size": "796,240"
     },
     "###NetworkTables": {
       "Collapsed": "0",
-      "Pos": "250,277",
+      "Pos": "224,71",
       "Size": "750,185"
     },
     "###Other Devices": {
@@ -39,7 +39,7 @@
     "###Timing": {
       "Collapsed": "0",
       "Pos": "5,150",
-      "Size": "135,127"
+      "Size": "135,150"
     },
     "Debug##Default": {
       "Collapsed": "0",

simgui.json

@@ -1,6 +1,11 @@
 {
   "HALProvider": {
     "Other Devices": {
+      "SPARK MAX [2]": {
+        "header": {
+          "open": true
+        }
+      },
       "Talon FX[1]": {
         "header": {
           "open": true
@@ -13,6 +18,7 @@
       "/FMSInfo": "FMSInfo",
       "/LiveWindow/FalconTester": "Subsystem",
       "/LiveWindow/LED": "Subsystem",
+      "/LiveWindow/SparkTester": "Subsystem",
       "/LiveWindow/Ungrouped/Scheduler": "Scheduler"
     }
   }

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

@@ -42,4 +42,7 @@ public final class Constants {
     public static final class FalconTesterConstants {
         public static final int CAN_ID = 1;
     }
+    public static final class SparkTesterConstants {
+        public static final int CAN_ID = 2;
+    }
 }

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

@@ -15,6 +15,7 @@ import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
 import frc4388.robot.subsystems.FalconTester;
 import frc4388.robot.subsystems.LED;
+import frc4388.robot.subsystems.SparkTester;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
 import frc4388.utility.controller.XboxController;
@@ -34,7 +35,8 @@ public class RobotContainer {
 
     private final LED m_robotLED = new LED(m_robotMap.LEDController);
 
-    private final FalconTester m_falconTester = new FalconTester(m_robotMap.falconTestMotor);
+    // private final FalconTester m_falconTester = new FalconTester(m_robotMap.falconTestMotor);
+    private final SparkTester m_SparkTester = new SparkTester(m_robotMap.sparkTestMotor);
 
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
@@ -48,13 +50,19 @@ public class RobotContainer {
 
         /* Default Commands */
         // drives the robot with a two-axis input from the driver controller
-        m_falconTester.setDefaultCommand(
-                new RunCommand(() -> m_falconTester.setMotorSpeed(0.1d * getDriverController().getLeftYAxis()),
-                 m_falconTester));
+
+        // m_falconTester.setDefaultCommand(
+        //         new RunCommand(() -> m_falconTester.setMotorSpeed(0.1d * getDriverController().getLeftYAxis()),
+        //          m_falconTester));
+        
+        m_SparkTester.setDefaultCommand(
+                         new RunCommand(() -> m_SparkTester.setMotorSpeed(0.25d * getDriverController().getLeftYAxis()),
+                          m_SparkTester));
         // continually sends updates to the Blinkin LED controller to keep the lights on
         m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
     }
 
+
     /**
      * Use this method to define your button->command mappings. Buttons can be
      * created by instantiating a {@link GenericHID} or one of its subclasses

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

@@ -12,11 +12,15 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.PigeonIMU;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import frc4388.robot.Constants.DriveConstants;
 import frc4388.robot.Constants.FalconTesterConstants;
 import frc4388.robot.Constants.LEDConstants;
+import frc4388.robot.Constants.SparkTesterConstants;
 import frc4388.robot.subsystems.FalconTester;
 
 /**
@@ -28,6 +32,7 @@ public class RobotMap {
     public RobotMap() {
         configureLEDMotorControllers();
         configureFalconTestMotorControllers();
+        configureSparkTestMotor();
     }
 
     /* LED Subsystem */
@@ -37,9 +42,16 @@ public class RobotMap {
         
     }
 
+    /* Falcon Tester */
     public final WPI_TalonFX falconTestMotor = new WPI_TalonFX(FalconTesterConstants.CAN_ID);
     void configureFalconTestMotorControllers() {
         falconTestMotor.configFactoryDefault();
         falconTestMotor.setNeutralMode(NeutralMode.Brake);
     }
+
+    /* SparkMax Tester*/
+    public final CANSparkMax sparkTestMotor = new CANSparkMax(SparkTesterConstants.CAN_ID, MotorType.kBrushless);
+    void configureSparkTestMotor() {
+        sparkTestMotor.restoreFactoryDefaults();
+    }
 }

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

@@ -17,13 +17,13 @@ public class SparkTester extends SubsystemBase {
   }
 
   public void setMotorSpeed(double speed) {
-    speed = Double.max(Double.min(speed, 1.d), -1.d);
+    // speed = Double.max(Double.min(speed, 1.d), -1.d);
     m_sparkMaxTestMotor.set(speed);
+    System.err.println(speed);
   }
 
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    //Test
   }
 }