Am brnach

simgui-ds.json

@@ -0,0 +1,92 @@
+{
+  "keyboardJoysticks": [
+    {
+      "axisConfig": [
+        {
+          "decKey": 65,
+          "incKey": 68
+        },
+        {
+          "decKey": 87,
+          "incKey": 83
+        },
+        {
+          "decKey": 69,
+          "decayRate": 0.0,
+          "incKey": 82,
+          "keyRate": 0.009999999776482582
+        }
+      ],
+      "axisCount": 3,
+      "buttonCount": 4,
+      "buttonKeys": [
+        90,
+        88,
+        67,
+        86
+      ],
+      "povConfig": [
+        {
+          "key0": 328,
+          "key135": 323,
+          "key180": 322,
+          "key225": 321,
+          "key270": 324,
+          "key315": 327,
+          "key45": 329,
+          "key90": 326
+        }
+      ],
+      "povCount": 1
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 74,
+          "incKey": 76
+        },
+        {
+          "decKey": 73,
+          "incKey": 75
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 4,
+      "buttonKeys": [
+        77,
+        44,
+        46,
+        47
+      ],
+      "povCount": 0
+    },
+    {
+      "axisConfig": [
+        {
+          "decKey": 263,
+          "incKey": 262
+        },
+        {
+          "decKey": 265,
+          "incKey": 264
+        }
+      ],
+      "axisCount": 2,
+      "buttonCount": 6,
+      "buttonKeys": [
+        260,
+        268,
+        266,
+        261,
+        269,
+        267
+      ],
+      "povCount": 0
+    },
+    {
+      "axisCount": 0,
+      "buttonCount": 0,
+      "povCount": 0
+    }
+  ]
+}

src/main/java/frc/robot/Constants.java

@@ -39,13 +39,15 @@ public enum Mode {
     public static final Mode currentMode = RobotBase.isReal() ? Mode.REAL : simMode;
 
     public static final int NEO_CURRENT_LIMIT = 20;
+    public static final int NEO_CURRENT_LIMIT_2 = 40;
 
     // Logging
     public static final long MAX_LOG_TIME_WAIT = 10;
     public static final boolean ENABLE_LOGGING = true;
 
     public static final boolean DEBUG = true;
     public static final int ROLLER_MOTOR_ID = 1;
+    public static final int INTAKE_MOTOR_ID = 3;
     public static final int TILT_MOTOR_ID = 2;
 
     public static final double ROLLER_SPEED = 0.25;

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

@@ -8,9 +8,12 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.commands.Flush;
+import frc.robot.commands.Intake;
 import frc.robot.commands.roller.SpinRoller;
 import frc.robot.commands.tilt.TiltDown;
 import frc.robot.commands.tilt.TiltUp;
+import frc.robot.subsystems.IntakeSubsystem;
 import frc.robot.subsystems.RollerSubsystem;
 import frc.robot.subsystems.TiltSubsystem;
 import frc.robot.utils.simulation.RobotVisualizer;
@@ -25,7 +28,7 @@ public class RobotContainer {
     // The robot's subsystems and commands are defined here...
     private final RollerSubsystem rollerSubsystem;
     private final TiltSubsystem tiltSubsystem;
-
+    private final IntakeSubsystem intakeSubsystem;
     private RobotVisualizer robotVisualizer;
 
     /**
@@ -36,15 +39,18 @@ public RobotContainer() {
             case REAL -> {
                 rollerSubsystem = new RollerSubsystem(RollerSubsystem.createRealIo());
                 tiltSubsystem = new TiltSubsystem(TiltSubsystem.createRealIo());
+                intakeSubsystem = new IntakeSubsystem(IntakeSubsystem.createRealIo());
             }
             case REPLAY -> {
                 rollerSubsystem = new RollerSubsystem(RollerSubsystem.createMockIo());
                 tiltSubsystem = new TiltSubsystem(TiltSubsystem.createMockIo());
+                intakeSubsystem = new IntakeSubsystem(IntakeSubsystem.createMockIo());
             }
             case SIM -> {
                 robotVisualizer = new RobotVisualizer();
                 rollerSubsystem = new RollerSubsystem(RollerSubsystem.createSimIo(robotVisualizer));
                 tiltSubsystem = new TiltSubsystem(TiltSubsystem.createSimIo(robotVisualizer));
+                intakeSubsystem = new IntakeSubsystem(IntakeSubsystem.createSimIo(robotVisualizer));
             }
             default -> {
                 throw new RuntimeException("Did not specify Robot Mode");
@@ -93,6 +99,14 @@ public void putShuffleboardCommands() {
             SmartDashboard.putData(
                     "Tilt Down",
                     new TiltDown(tiltSubsystem));
+
+            SmartDashboard.putData(
+                    "Intake",
+                    new Intake(intakeSubsystem));
+
+            SmartDashboard.putData(
+                    "Flush",
+                    new Flush(intakeSubsystem));
         }
     }
 

src/main/java/frc/robot/commands/Flush.java

@@ -0,0 +1,43 @@
+package frc.robot.commands;
+import edu.wpi.first.wpilibj.Timer;
+import frc.robot.Constants;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.utils.logging.commands.LoggableCommand;
+
+public class Flush extends LoggableCommand {
+    private final IntakeSubsystem subsystem;
+  private final Timer timer;
+
+  /**
+ * @param subsystem
+ */
+public Flush(IntakeSubsystem subsystem) {
+    timer = new Timer();
+    this.subsystem = subsystem;
+    addRequirements(subsystem);
+}
+
+@Override
+public void initialize() {
+  timer.restart();
+}
+
+@Override
+public void execute() {
+  subsystem.setSpeed(Constants.ROLLER_SPEED);
+}
+
+@Override
+public void end(boolean interrupted) {
+  subsystem.stopMotors();
+}
+
+@Override
+public boolean isFinished() {
+  if (timer.hasElapsed(Constants.SPIN_TIMEOUT)) {
+    return true;
+  } else{
+    return false;
+  }
+}
+}

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

@@ -0,0 +1,43 @@
+package frc.robot.commands;
+import edu.wpi.first.wpilibj.Timer;
+import frc.robot.Constants;
+import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.utils.logging.commands.LoggableCommand;
+
+public class Intake extends LoggableCommand {
+    private final IntakeSubsystem subsystem;
+  private final Timer timer;
+
+  /**
+ * @param subsystem
+ */
+public Intake(IntakeSubsystem subsystem) {
+    timer = new Timer();
+    this.subsystem = subsystem;
+    addRequirements(subsystem);
+}
+
+@Override
+public void initialize() {
+  timer.restart();
+}
+
+@Override
+public void execute() {
+  subsystem.setSpeed(Constants.ROLLER_SPEED);
+}
+
+@Override
+public void end(boolean interrupted) {
+  subsystem.stopMotors();
+}
+
+@Override
+public boolean isFinished() {
+  if (timer.hasElapsed(Constants.SPIN_TIMEOUT)) {
+    return true;
+  } else{
+    return false;
+  }
+}
+}

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

@@ -0,0 +1,69 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.spark.SparkBase;
+import com.revrobotics.spark.SparkLowLevel;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+import frc.robot.utils.logging.input.MotorLoggableInputs;
+import frc.robot.utils.logging.io.motor.MockSparkMaxIo;
+import frc.robot.utils.logging.io.motor.RealSparkMaxIo;
+import frc.robot.utils.logging.io.motor.SimSparkMaxIo;
+import frc.robot.utils.logging.io.motor.SparkMaxIo;
+import frc.robot.utils.simulation.MotorSimulator;
+import frc.robot.utils.simulation.RobotVisualizer;
+
+public class IntakeSubsystem extends SubsystemBase {
+
+    public static final String LOGGING_NAME = "IntakeSubsystem";
+    private final SparkMaxIo Io;
+
+    public IntakeSubsystem(SparkMaxIo Io) {
+        this.Io = Io;
+    }
+
+    public void setSpeed(double speed) {
+        Io.set(speed);
+    }
+
+    public void stopMotors() {
+        Io.stopMotor();
+    }
+
+    @Override
+    public void periodic() {
+        Io.periodic();
+    }
+
+    public static SparkMaxIo createMockIo() {
+        return new MockSparkMaxIo();
+    }
+
+    public static SparkMaxIo createRealIo() {
+        return new RealSparkMaxIo(LOGGING_NAME, createMotor(), MotorLoggableInputs.allMetrics());
+    }
+
+    public static SparkMaxIo createSimIo(RobotVisualizer visualizer) {
+        SparkMax motor = createMotor();
+        return new SimSparkMaxIo(LOGGING_NAME, motor, MotorLoggableInputs.allMetrics(),
+                new MotorSimulator(motor, visualizer.getIntakeLigament()));
+    }
+
+    private static SparkMax createMotor() {
+        SparkMax motor = new SparkMax(Constants.INTAKE_MOTOR_ID, SparkLowLevel.MotorType.kBrushless);
+        SparkMaxConfig motorConfig = new SparkMaxConfig();
+        motorConfig.idleMode(SparkBaseConfig.IdleMode.kBrake);
+        motorConfig.smartCurrentLimit(Constants.NEO_CURRENT_LIMIT_2);
+        motor.configure(
+                motorConfig,
+                SparkBase.ResetMode.kResetSafeParameters,
+                SparkBase.PersistMode.kPersistParameters);
+//changed constructor name
+
+                return motor;
+    }
+}
+
+

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

@@ -21,23 +21,23 @@
 
 public class RollerSubsystem extends SubsystemBase {
     public static final String LOGGING_NAME = "RollerSubsystem";
-    private final SparkMaxIo io;
+    private final SparkMaxIo motor;
 
-    public RollerSubsystem(SparkMaxIo io) {
-        this.io = io;
+    public RollerSubsystem(SparkMaxIo motor) {
+        this.motor = motor;
     }
 
     public void setSpeed(double speed) {
-        io.set(speed);
+        motor.set(speed);
     }
 
     public void stopMotors() {
-        io.stopMotor();
+        motor.stopMotor();
     }
 
     @Override
     public void periodic() {
-        io.periodic();
+        motor.periodic();
     }
 
     public static SparkMaxIo createMockIo() {
@@ -63,7 +63,8 @@ private static SparkMax createMotor() {
                 motorConfig,
                 SparkBase.ResetMode.kResetSafeParameters,
                 SparkBase.PersistMode.kPersistParameters);
+//changed constructor name
 
-        return motor;
+                return motor;
     }
 }

src/main/java/frc/robot/utils/logging/commands/LoggableSequentialCommandGroup.java

@@ -8,7 +8,7 @@ public class LoggableSequentialCommandGroup extends SequentialCommandGroup imple
   private String basicName = getClass().getSimpleName();
   private Command parent = new BlankCommand();
 
-  public <T extends Command & Loggable> LoggableSequentialCommandGroup(T... commands) {
+  public <T extends Command & Loggable> LoggableSequentialCommandGroup(T...commands) {
     ProxyCommand[] proxyCommands = new ProxyCommand[commands.length];
     for (int i = 0; i < commands.length; i++) {
       commands[i].setParent(this);

src/main/java/frc/robot/utils/logging/io/BaseIoImpl.java

@@ -1,6 +1,5 @@
 package frc.robot.utils.logging.io;
 
-import frc.robot.utils.logging.io.BaseIo;
 import org.littletonrobotics.junction.Logger;
 import org.littletonrobotics.junction.inputs.LoggableInputs;
 

src/main/java/frc/robot/utils/logging/io/motor/SimSparkMaxIo.java

@@ -4,7 +4,6 @@
 import frc.robot.Constants;
 import frc.robot.utils.logging.input.MotorLoggableInputs;
 import frc.robot.utils.simulation.Simulator;
-import org.littletonrobotics.junction.mechanism.LoggedMechanismLigament2d;
 
 /**
  * IO Implementation for a simulated SparkMax IO controller.