Hopper uptake advantagekit

src/main/java/org/team157/robot/Robot.java

@@ -172,20 +172,20 @@ public void robotPeriodic() {
     SmartDashboard.putNumber("Match Time", Timer.getMatchTime());
     // Gets hub activity status to display on the dashboard.
     SmartDashboard.putBoolean("Hub Active?", m_robotContainer.isHubActive());
-    SmartDashboard.putBoolean("Under Trench?", m_robotContainer.drivetrain.isUnderTrench());
+    SmartDashboard.putBoolean("Under Trench?", RobotContainer.drivetrain.isUnderTrench());
 
   }
 
   /** This function is called once each time the robot enters Disabled mode. */
   @Override
   public void disabledInit() {
-    m_robotContainer.visionSystem.updatePoseEstimation(m_robotContainer.drivetrain);
+    m_robotContainer.visionSystem.updatePoseEstimation(RobotContainer.drivetrain);
   }
 
   @Override
   public void disabledPeriodic() {
-    m_robotContainer.visionSystem.resetPoseEstimation(m_robotContainer.drivetrain);
-    m_robotContainer.visionSystem.updatePoseEstimation(m_robotContainer.drivetrain);
+    m_robotContainer.visionSystem.resetPoseEstimation(RobotContainer.drivetrain);
+    m_robotContainer.visionSystem.updatePoseEstimation(RobotContainer.drivetrain);
 
   }
 

src/main/java/org/team157/robot/RobotContainer.java

@@ -37,8 +37,10 @@
 import org.team157.robot.subsystems.intake.IntakeIOTalonFX;
 import org.team157.robot.subsystems.slapdown.Slapdown;
 import org.team157.robot.subsystems.slapdown.SlapdownIOTalonFX;
-import org.team157.robot.subsystems.turret.TurretSystem;
-import org.team157.robot.subsystems.uptake.UptakeSystem;
+import org.team157.robot.subsystems.uptake.Uptake;
+import org.team157.robot.subsystems.uptake.UptakeIOTalonFX;
+import org.team157.robot.subsystems.turret.Turret;
+import org.team157.robot.subsystems.turret.TurretIOTalonFX;
 import org.team157.robot.subsystems.vision.VisionSystem;
 
 public class RobotContainer {
@@ -57,21 +59,18 @@ public class RobotContainer {
     private final CommandXboxController driverController = new CommandXboxController(0);
     private final CommandXboxController operatorController = new CommandXboxController(1);
 
-    public final TurretSystem turret;
+    public final Turret turret = new Turret();
     public final VisionSystem visionSystem;
+    public final FlywheelSystem flywheel = new FlywheelSystem();
+    // TODO: consider whether other systems should be static, had to make this static for the dyanmic hood under trench.
+    public static final DriveSystem drivetrain = TunerConstants.createDrivetrain();
 
-    // public final HoodSystem hood = new HoodSystem();
     public final Hood hood = new Hood();
-    public final Slapdown slapdown = new Slapdown();
-    // public final IntakePivotSystem intakePivot = new IntakePivotSystem();
-    // public final IntakeRollerSystem intakeRoller = new IntakeRollerSystem();
     public final Intake intake = new Intake();
-    // public final HopperSystem hopper = new HopperSystem();
     public final Hopper hopper = new Hopper();
-    public final UptakeSystem uptake = new UptakeSystem();
-    public final FlywheelSystem flywheel = new FlywheelSystem();
-    // TODO: consider whether other systems should be static, had to make this static for the dyanmic hood under trench.
-    public static final DriveSystem drivetrain = TunerConstants.createDrivetrain();
+    public final Uptake uptake = new Uptake();
+    public final Slapdown slapdown = new Slapdown();
+
 
     private final SendableChooser<Command> autoChooser;
 
@@ -91,13 +90,15 @@ public RobotContainer() {
         hood.setIO(new HoodIOTalonFX(hood));
         slapdown.setIO(new SlapdownIOTalonFX(slapdown));
         hopper.setIO(new HopperIOTalonFX(hopper));
+        uptake.setIO(new UptakeIOTalonFX(uptake));
+
         visionSystem = new VisionSystem(drivetrain::getPose, Robot.m_field);
-        turret = new TurretSystem(visionSystem);
+        turret.setIO(new TurretIOTalonFX(turret), visionSystem);
 
         NamedCommands.registerCommand("DeployIntake", slapdown.deployIntake());
         NamedCommands.registerCommand("RunIntake", intake.runIntake());
         NamedCommands.registerCommand("RunHopper", hopper.set(0.5));
-        NamedCommands.registerCommand("ShootBalls", uptake.setRoller(1));
+        NamedCommands.registerCommand("ShootBalls", uptake.set(1));
         NamedCommands.registerCommand("Wiggle", slapdown.wiggleIntake());
 
         configureBindings();
@@ -126,7 +127,7 @@ private void configureBindings() {
         visionSystem.setDefaultCommand(visionSystem.setDefault(drivetrain, turret));
 
         // Disable turret movement when no other turret commands are running.
-        turret.setDefaultCommand(turret.setDefault());
+        turret.setDefaultCommand(turret.getDefault());
         flywheel.setDefaultCommand(flywheel.setDefault());
         slapdown.setDefaultCommand(slapdown.getDefault());
         intake.setDefaultCommand(intake.getDefault());
@@ -187,12 +188,12 @@ private void configureBindings() {
         // Swaps the intake and shooting triggers if Maya mode is enabled, per Maya's preference.
         if(ModifierConstants.MAYA_MODE) {
             // Shooting on left trigger, intake on right trigger
-            driverController.leftTrigger().whileTrue(uptake.setRoller(1));
+            driverController.leftTrigger().whileTrue(uptake.set(1));
             driverController.rightTrigger().whileTrue(intake.runIntake());
             driverController.leftTrigger().whileTrue(hopper.set(1));
         } else {
             // Shooting on right trigger, intake on left trigger
-            driverController.rightTrigger().whileTrue(uptake.setRoller(1));
+            driverController.rightTrigger().whileTrue(uptake.set(1));
             driverController.leftTrigger().whileTrue(intake.runIntake());
             driverController.rightTrigger().whileTrue(hopper.set(1));
         }
@@ -359,7 +360,7 @@ private Command toggleManualOverride() {
     // at a low speed to clear any jams.
     // TODO: remove from RobotContainer and into eventual Superstructure subsystem once it exists.
     private Command forceOuttake() {
-        return uptake.setRoller(-0.5).alongWith(hopper.set(-0.5)).alongWith(intake.set(-0.5));
+        return uptake.set(-0.5).alongWith(hopper.set(-0.5)).alongWith(intake.set(-0.5));
     }
 
     /**

src/main/java/org/team157/robot/subsystems/hopper/Hopper.java

@@ -5,27 +5,34 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
+/**
+ * Represents the Hopper subsystem, which feeds balls 
+ * from the intake into the uptake for shooting.
+ */
 public class Hopper extends SubsystemBase {
-    private HopperIO io;
+
+  // The IO interface for interacting with the hopper's motor.
+  private HopperIO io;
 
-    private final HopperIOInputsAutoLogged inputs = new HopperIOInputsAutoLogged();
+  // Inputs from the motor and mechanism, to be updated periodically and logged.
+  private final HopperIOInputsAutoLogged inputs = new HopperIOInputsAutoLogged();
 
     /** Creates a new Hopper. */
     public Hopper() {}
-/**
-   * Specifies the IO implementation to be used for the hood.
+  /**
+   * Specifies the IO implementation to be used for the hopper.
    * 
-   * @param io An implementation of the Hood's IO layer, i.e. HoodIOTalonFX
+   * @param io An implementation of the Hopper's IO layer, i.e. HopperIOTalonFX
    */
   public void setIO(HopperIO io) {
     this.io = io;
   }
 
   /**
-   * Sets the default command of the hopper, stopping motor output when no other
-   * commands are running.
+   * Sets the default command of the hopper, stopping 
+   * motor output when no other commands are running.
    * 
-   * @return Command setting the duty cycle output of the hood's motor to 0
+   * @return Command setting the duty cycle of the hopper's motor to 0
    */
   public Command getDefault() {
     return io.stop();
@@ -55,5 +62,4 @@ public void simulationPeriodic() {
     io.simIterate();
   }
 
-
 }

src/main/java/org/team157/robot/subsystems/hopper/HopperIO.java

@@ -5,11 +5,15 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 
+/**
+ * Defines the input data to be logged by AdvantageKit, along with methods and
+ * {@link Command}s which an implementation of this IO interface must have.
+ */
 public interface HopperIO {
 
     /** 
      * Represents the set of inputs which are to be logged by AdvantageKit 
-     * and updated by an implementation of the {@link HoodIO} interface. 
+     * and updated by an implementation of the {@link HopperIO} interface. 
      */
     @AutoLog
     public static class HopperIOInputs {

src/main/java/org/team157/robot/subsystems/hopper/HopperIOTalonFX.java

@@ -34,7 +34,6 @@ public HopperIOTalonFX(SubsystemBase subsystem) {
         SmartMotorControllerConfig hopperRollerMotorConfig = new SmartMotorControllerConfig(subsystem)
             .withControlMode(ControlMode.OPEN_LOOP)
             .withTelemetry("HopperRollerMotor", TelemetryConstants.TELEMETRY_VERBOSITY)
-            .withGearing(1)
             .withMotorInverted(true)
             .withIdleMode(MotorMode.COAST)
             .withStatorCurrentLimit((HopperConstants.CURRENT_LIMIT))
@@ -50,7 +49,6 @@ public HopperIOTalonFX(SubsystemBase subsystem) {
 
         this.hopper = new FlyWheel(hopperRollerConfig);
         this.motor = hopper.getMotor();
-
     }
 
     @Override
@@ -70,15 +68,13 @@ public Command stop() {
     }
 
     @Override
-    public Command set(double dutycycle) {
-        return hopper.set(dutycycle);
+    public Command set(double dutyCycle) {
+        return hopper.set(dutyCycle);
     }
 
     @Override
     public void simIterate() {
         hopper.simIterate();
     }
 
-
-
 }