From 11512e140c0cd7a9f8a730e36df30ce8b44c7aa3 Mon Sep 17 00:00:00 2001
From: Team 2648 <team2648@coldlightalchemist.com>
Date: Thu, 27 Mar 2025 19:04:10 -0400
Subject: [PATCH] added the indexer

---
 src/main/java/frc/robot/RobotContainer.java   | 10 ++++++
 .../frc/robot/constants/IndexerConstants.java | 15 +++++++++
 .../java/frc/robot/subsystems/Indexer.java    | 32 +++++++++++++++++++
 3 files changed, 57 insertions(+)
 create mode 100644 src/main/java/frc/robot/constants/IndexerConstants.java
 create mode 100644 src/main/java/frc/robot/subsystems/Indexer.java

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 1aff18c..b6872aa 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -14,6 +14,7 @@ import frc.robot.subsystems.ClimberPivot;
 import frc.robot.subsystems.ClimberRollers;
 import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Elevator;
+import frc.robot.subsystems.Indexer;
 import frc.robot.subsystems.Manipulator;
 
 import java.util.function.IntSupplier;
@@ -42,6 +43,8 @@ public class RobotContainer {
 	private Elevator elevator;
 	//private ElevatorSysID elevator;
 
+	private Indexer indexer;
+
 	private Manipulator manipulator;
 
 	private ManipulatorPivot manipulatorPivot;
@@ -63,6 +66,8 @@ public class RobotContainer {
 		elevator = new Elevator();
 		//elevator = new ElevatorSysID();
 
+		indexer = new Indexer();
+
 		manipulator = new Manipulator();
 
 		manipulatorPivot = new ManipulatorPivot();
@@ -117,6 +122,10 @@ public class RobotContainer {
 		elevator.setDefaultCommand(
 			elevator.maintainPosition()
 		);
+
+		indexer.setDefaultCommand(
+			indexer.runIndexer(() -> 0)
+		);
 		
 		
 		manipulatorPivot.setDefaultCommand(
@@ -140,6 +149,7 @@ public class RobotContainer {
 
 		driver.leftTrigger().whileTrue( 
 			manipulator.runUntilCollected(() -> 0.75)
+			.alongWith(indexer.runIndexer(() -> .75))
 			.until(() -> manipulator.getCoralBeamBreak() == false)
 			.andThen(manipulator.retractCommand(() -> .1))
 		);
diff --git a/src/main/java/frc/robot/constants/IndexerConstants.java b/src/main/java/frc/robot/constants/IndexerConstants.java
new file mode 100644
index 0000000..f33aa4d
--- /dev/null
+++ b/src/main/java/frc/robot/constants/IndexerConstants.java
@@ -0,0 +1,15 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+
+public class IndexerConstants {
+    public static final int kIndexerMotorID = 16;
+
+    public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
+    
+    static{
+        motorConfig.smartCurrentLimit(40)
+        .idleMode(IdleMode.kCoast);
+    };
+}
diff --git a/src/main/java/frc/robot/subsystems/Indexer.java b/src/main/java/frc/robot/subsystems/Indexer.java
new file mode 100644
index 0000000..806d694
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/Indexer.java
@@ -0,0 +1,32 @@
+package frc.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.IndexerConstants;
+
+public class Indexer extends SubsystemBase {
+    private SparkMax indexerMotor;
+
+    public Indexer() {
+        indexerMotor = new SparkMax(IndexerConstants.kIndexerMotorID, MotorType.kBrushless);
+
+        indexerMotor.configure(
+            IndexerConstants.motorConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+    }
+
+    public Command runIndexer(DoubleSupplier speed) {
+        return run(() -> {
+            indexerMotor.set(speed.getAsDouble());
+        });
+    }
+}