sonic code

src/main/java/frc/robot/RobotContainer.java

@@ -43,7 +43,7 @@
 import frc.robot.commands.TrajectoryCommands.MoveToNote;
 import frc.robot.commands.TrajectoryCommands.RunOnTheFly;
 import frc.robot.commands.TrajectoryCommands.TrajectoryCreation;
-import frc.robot.Controls.ControlMap;
+import frc.robot.controls.ControlMap;
 import frc.robot.commands.CharacterizationCommands.FeedForwardCharacterization;
 import frc.robot.commands.CharacterizationCommands.forwardMeter;
 import frc.robot.commands.CharacterizationCommands.FeedForwardCharacterization.FeedForwardCharacterizationData;

src/main/java/frc/robot/commands/ClimbCommands/ClimbTeleop.java

@@ -8,7 +8,7 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.Constants;
-import frc.robot.Controls.ControlMap;
+import frc.robot.controls.ControlMap;
 import frc.robot.subsystems.Climb;
 
 public class ClimbTeleop extends Command {

src/main/java/frc/robot/controls/ControlMap.java

@@ -2,7 +2,7 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot.Controls;
+package frc.robot.controls;
 
 import edu.wpi.first.wpilibj.Joystick;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;

src/main/java/frc/robot/subsystems/Intake.java

@@ -5,9 +5,7 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj.AnalogInput;
-import edu.wpi.first.wpilibj.CAN;
 import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.Preferences;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
@@ -22,17 +20,13 @@
 public class Intake extends SubsystemBase {
   private static final double DEADZONE = 0.05;
   private CANSparkMax m_IntakePivotMotor;
-  private CANSparkMax m_IntakeRollerMotor;
-
-  private double realPivotSpeed = Constants.IntakeConstants.intakeUpSpeed;  
-  private double realRollerSpeed = Constants.IntakeConstants.rollerSpeedIntake;  
-
+  private TalonSRX m_IntakeRollerMotor;
   private AnalogInput IRSensor = new AnalogInput(Constants.IntakeConstants.IRport);
   static Intake instance = null;
   /** Creates a new Intake. */
   public Intake() {
     m_IntakePivotMotor = new CANSparkMax(Constants.IntakeConstants.pivotID, MotorType.kBrushless);
-    m_IntakeRollerMotor = new CANSparkMax(Constants.IntakeConstants.rollerID, MotorType.kBrushless);
+    m_IntakeRollerMotor = new TalonSRX(Constants.IntakeConstants.rollerID);
     m_IntakePivotMotor.setIdleMode(IdleMode.kBrake);
   }
 
@@ -65,7 +59,7 @@ public void rotateIntake(double rotate){
   // move intake rollers
   public void moveRollers(double rotate){
     if(Math.abs(rotate) < DEADZONE) rotate = 0;
-    m_IntakeRollerMotor.set(rotate);
+    m_IntakeRollerMotor.set(TalonSRXControlMode.PercentOutput, rotate);
   }
 
   public double getIRSensor(){
@@ -78,11 +72,5 @@ public void periodic() {
     // SmartDashboard.putBoolean("limit reverse", getIntakeLimitStateReverse());
     // SmartDashboard.putNumber("IR Sensor", getIRSensor());
     // This method will be called once per scheduler run
-
-    SmartDashboard.putNumber(Constants.IntakeConstants.pivotUpKey, m_IntakePivotMotor.getOutputCurrent());  
-    SmartDashboard.putNumber(Constants.IntakeConstants.rollerInKey, m_IntakeRollerMotor.getOutputCurrent());  
-
-    Constants.ShooterConstants.shooterLeftSpeedSpeaker = Preferences.getDouble(Constants.IntakeConstants.pivotUpKey, realPivotSpeed);  
-    Constants.ShooterConstants.shooterRightSpeedSpeaker = Preferences.getDouble(Constants.IntakeConstants.rollerInKey, realRollerSpeed); 
   }
 }

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

@@ -1,69 +1,85 @@
 // Copyright (c) FIRST and other WPILib contributors.
-// Open Source Software; you can modify and/or share it under the terms of  
+// Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
 package frc.robot.subsystems;
 
-import com.revrobotics.CANSparkMax;
-import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 
-import edu.wpi.first.wpilibj.Preferences;  
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;  
-import edu.wpi.first.wpilibj2.command.SubsystemBase;  
+import edu.wpi.first.wpilibj.Preferences;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
 
 public class Shooter extends SubsystemBase {
   private static final double DEADZONE = 0.05;
-  private CANSparkMax m_ShooterMotorLeft;  
-  private CANSparkMax m_ShooterMotorRight;  
+  private TalonSRX m_ShooterMotorLeft;
+  private TalonSRX m_ShooterMotorRight;
 
-  private double realLeftSpeed = Constants.ShooterConstants.shooterLeftSpeedSpeaker;  
-  private double realRightSpeed = Constants.ShooterConstants.shooterRightSpeedSpeaker;  
+  private double realLeftSpeed = Constants.ShooterConstants.shooterLeftSpeedSpeaker;
+  private double realRightSpeed = Constants.ShooterConstants.shooterRightSpeedSpeaker;
   static Shooter instance = null;
-
-  /** Creates a new Shooter. */  
+  /** Creates a new Shooter. */
   public Shooter() {
-    m_ShooterMotorLeft = new CANSparkMax(Constants.ShooterConstants.shooterLeftID, MotorType.kBrushless);  
-    m_ShooterMotorRight = new CANSparkMax(Constants.ShooterConstants.shooterRightID, MotorType.kBrushless);  
+    m_ShooterMotorLeft = new TalonSRX(Constants.ShooterConstants.shooterLeftID);
+    m_ShooterMotorRight = new TalonSRX(Constants.ShooterConstants.shooterRightID);
+    // Preferences.initDouble(Constants.ShooterConstants.leftSpeedKey, realLeftSpeed);
     Preferences.initDouble(Constants.ShooterConstants.rightSpeedKey, realRightSpeed);
   }
 
-  // Retrieve instance of shooter  
+  // Retrieve instance of shooter
   public static Shooter getInstance(){
-    if(instance == null) instance = new Shooter();  
-    return instance;  
+    if(instance == null) instance = new Shooter();
+    return instance;
   }
 
-  // Move shooter motors  
+  // move shooter motors
   public void shoot(double rotateLeft, double rotateRight){
-    if(Math.abs(rotateLeft) < DEADZONE) rotateLeft = 0;  
-    if(Math.abs(rotateRight) < DEADZONE) rotateRight = 0;  
-    moveLeftMotor(rotateLeft);  
-    moveRightMotor(rotateRight);  
+    if(Math.abs(rotateLeft) < DEADZONE) rotateLeft = 0;
+    if(Math.abs(rotateRight) < DEADZONE) rotateRight = 0;
+    moveLeftMotor(rotateLeft);
+    moveRightMotor(rotateRight);
   }
 
-  // Move left motor  
+  // move left motor
   public void moveLeftMotor(double rotateLeft){
-    if(Math.abs(rotateLeft) < DEADZONE) rotateLeft = 0;  
-    m_ShooterMotorLeft.set(rotateLeft);  
+    if(Math.abs(rotateLeft) < DEADZONE) rotateLeft = 0;
+    m_ShooterMotorLeft.set(TalonSRXControlMode.PercentOutput, rotateLeft);
   }
 
-  // Move right motor  
+  // move right motor
   public void moveRightMotor(double rotateRight){
-    if(Math.abs(rotateRight) < DEADZONE) rotateRight = 0;  
-    m_ShooterMotorRight.set(rotateRight);  
+    if(Math.abs(rotateRight) < DEADZONE) rotateRight = 0;
+    m_ShooterMotorRight.set(TalonSRXControlMode.PercentOutput, rotateRight);
   }
 
   public double getCurrent() {
-    return (m_ShooterMotorLeft.getOutputCurrent() + m_ShooterMotorRight.getOutputCurrent()) / 2;  
+    return (m_ShooterMotorLeft.getSupplyCurrent() + m_ShooterMotorRight.getSupplyCurrent()) / 2;
   }
 
-  @Override  
+  @Override
   public void periodic() {
-    SmartDashboard.putNumber("current left", m_ShooterMotorLeft.getOutputCurrent());  
-    SmartDashboard.putNumber("current right", m_ShooterMotorRight.getOutputCurrent());  
+    SmartDashboard.putNumber("current left", m_ShooterMotorLeft.getSupplyCurrent());
+    SmartDashboard.putNumber("current right", m_ShooterMotorRight.getSupplyCurrent());
+
+
+    Constants.ShooterConstants.shooterLeftSpeedSpeaker = Preferences.getDouble(Constants.ShooterConstants.leftSpeedKey, realLeftSpeed);
+    Constants.ShooterConstants.shooterRightSpeedSpeaker = Preferences.getDouble(Constants.ShooterConstants.rightSpeedKey, realRightSpeed);
+
+
+
+    // SmartDashboard.putNumber("Speed Left Speaker", Constants.ShooterConstants.shooterLeftSpeedSpeaker);
+    // SmartDashboard.putNumber("Speed Right Speaker", Constants.ShooterConstants.shooterRightSpeedSpeaker);
+    // SmartDashboard.putNumber("Speed Left Amp", Constants.ShooterConstants.shooterLeftSpeedAmp);
+    // SmartDashboard.putNumber("Speed Right Amp", Constants.ShooterConstants.shooterRightSpeedAmp);
+    // SmartDashboard.putNumber("Outtake speed", Constants.IntakeConstants.rollerSpeedOuttake);
 
-    Constants.ShooterConstants.shooterLeftSpeedSpeaker = Preferences.getDouble(Constants.ShooterConstants.leftSpeedKey, realLeftSpeed);  
-    Constants.ShooterConstants.shooterRightSpeedSpeaker = Preferences.getDouble(Constants.ShooterConstants.rightSpeedKey, realRightSpeed);  
+    // Constants.ShooterConstants.shooterLeftSpeedSpeaker = SmartDashboard.getNumber("Speed Left Speaker", Constants.ShooterConstants.shooterLeftSpeedSpeaker);
+    // Constants.ShooterConstants.shooterRightSpeedSpeaker = SmartDashboard.getNumber("Speed Right Speaker", Constants.ShooterConstants.shooterRightSpeedSpeaker);
+    // Constants.ShooterConstants.shooterLeftSpeedAmp = SmartDashboard.getNumber("Speed Left Amp", Constants.ShooterConstants.shooterLeftSpeedAmp);
+    // Constants.ShooterConstants.shooterRightSpeedAmp = SmartDashboard.getNumber("Speed Right Amp", Constants.ShooterConstants.shooterRightSpeedAmp);
+    // Constants.IntakeConstants.rollerSpeedOuttake = SmartDashboard.getNumber("Outtake speed", Constants.IntakeConstants.rollerSpeedOuttake);
+    // This method will be called once per scheduler run
   }
 }