Merge branch 'master' of https://github.com/Team4388/Shoot-To-TShirt

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

@@ -39,4 +39,9 @@ public final class Constants {
         public static final int XBOX_DRIVER_ID = 0;
         public static final int XBOX_OPERATOR_ID = 1;
     }
+
+    public static final class HornConstants {
+        public static final int HORN_SOLENOID_ID = 0;
+        //Todo: Change ID with new id on the robot
+    }
 }

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

@@ -14,6 +14,7 @@ import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.button.JoystickButton;
 import frc4388.robot.Constants.*;
 import frc4388.robot.subsystems.Drive;
+import frc4388.robot.subsystems.Horn;
 import frc4388.robot.subsystems.LED;
 import frc4388.utility.LEDPatterns;
 import frc4388.utility.controller.IHandController;
@@ -36,6 +37,8 @@ public class RobotContainer {
 
     private final LED m_robotLED = new LED(m_robotMap.LEDController);
     
+    private final Horn m_robotHorn = new Horn(m_robotMap.HornSolenoid);
+
     /* Controllers */
     private final XboxController m_driverXbox = new XboxController(OIConstants.XBOX_DRIVER_ID);
     private final XboxController m_operatorXbox = new XboxController(OIConstants.XBOX_OPERATOR_ID);
@@ -72,6 +75,11 @@ public class RobotContainer {
         new JoystickButton(getOperatorJoystick(), XboxController.A_BUTTON)
                 .whenPressed(() -> m_robotLED.setPattern(LEDPatterns.LAVA_RAINBOW))
                 .whenReleased(() -> m_robotLED.setPattern(LEDConstants.DEFAULT_PATTERN));
+
+        // BWAHHHHHHHHHHHH
+        new JoystickButton(getOperatorJoystick(), XboxController.RIGHT_TRIGGER_AXIS)
+                .whenPressed(() -> m_robotHorn.hornSet(true))
+                .whenReleased(() -> m_robotHorn.hornSet(false));
     }
 
     /**

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

@@ -12,9 +12,11 @@ import com.ctre.phoenix.motorcontrol.NeutralMode;
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
 import com.ctre.phoenix.sensors.PigeonIMU;
 
+import edu.wpi.first.wpilibj.Solenoid;
 import edu.wpi.first.wpilibj.Spark;
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
 import frc4388.robot.Constants.DriveConstants;
+import frc4388.robot.Constants.HornConstants;
 import frc4388.robot.Constants.LEDConstants;
 import frc4388.utility.RobotGyro;
 
@@ -68,4 +70,6 @@ public class RobotMap {
         leftBackMotor.setInverted(InvertType.FollowMaster);
         rightBackMotor.setInverted(InvertType.FollowMaster);
     }
+
+    public final Solenoid HornSolenoid =  new Solenoid(HornConstants.HORN_SOLENOID_ID);
 }

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

@@ -16,11 +16,11 @@ public class Horn extends SubsystemBase {
   /**
    * Creates a new Horn.
    */
-  public Horn() {
-    m_solenoid = new Solenoid(0);
+  public Horn(Solenoid solenoid) {
+    m_solenoid = solenoid;
   }
 
-  public void hornset(boolean arg) {
+  public void hornSet(boolean arg) {
     m_solenoid.set(arg);
   }