integrated indexer motor with manipulator

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

@@ -43,7 +43,7 @@ public class RobotContainer {
 	private Elevator elevator;
 	//private ElevatorSysID elevator;
 
-	private Indexer indexer;
+	//private Indexer indexer;
 
 	private Manipulator manipulator;
 
@@ -66,7 +66,7 @@ public class RobotContainer {
 		elevator = new Elevator();
 		//elevator = new ElevatorSysID();
 
-		indexer = new Indexer();
+		//indexer = new Indexer();
 
 		manipulator = new Manipulator();
 
@@ -123,9 +123,9 @@ public class RobotContainer {
 			elevator.maintainPosition()
 		);
 
-		indexer.setDefaultCommand(
+		//indexer.setDefaultCommand(
-			indexer.runIndexer(() -> 0)
+		//	indexer.runIndexer(() -> 0)
-		);
+		//);
 		
 		
 		manipulatorPivot.setDefaultCommand(
@@ -149,7 +149,7 @@ public class RobotContainer {
 
 		driver.leftTrigger().whileTrue( 
 			manipulator.runUntilCollected(() -> 0.75)
-			.alongWith(indexer.runIndexer(() -> .75))
+			//.alongWith(indexer.runIndexer(() -> .75))
 			.until(() -> manipulator.getCoralBeamBreak() == false)
 			.andThen(manipulator.retractCommand(() -> .1))
 		);
@@ -215,7 +215,9 @@ public class RobotContainer {
 
 		operator.back().onTrue(elevator.homeCommand());
 
-		operator.start().toggleOnTrue(climberPivot.runPivot(() -> -operator.getRightY()*0.5).alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5)));
+		operator.start().toggleOnTrue(
+			climberPivot.runPivot(() -> -operator.getRightY()*0.5)
+			.alongWith(climberRollers.runRoller(() -> operator.getLeftY()*0.5)));
 
 		operator.a().onTrue(
 			safeMoveManipulator(ElevatorConstants.kCoralIntakePosition, ManipulatorPivotConstants.kStartingPosition)
@@ -223,18 +225,18 @@ public class RobotContainer {
 
 		operator.x().onTrue(
 			safeMoveManipulator(ElevatorConstants.kL2AlgaePosition, ManipulatorPivotConstants.kL2AlgaePosition)
-				.alongWith(manipulator.runManipulator(() -> 0.85, false))
+				.alongWith(manipulator.runManipulator(() -> 0.5, false))
 				.until(() -> driver.a().getAsBoolean())
 		);
 
 		operator.b().onTrue(
 			safeMoveManipulator(ElevatorConstants.kL3AlgaePosition, ManipulatorPivotConstants.kL3AlgaePosition)
-				.alongWith(manipulator.runManipulator(() -> 0.85, false))
+				.alongWith(manipulator.runManipulator(() -> 0.5, false))
 				.until(() -> driver.a().getAsBoolean())
 		);
 
 		operator.y().onTrue(moveWithAlgae(ElevatorConstants.kProcessorPosition, ManipulatorPivotConstants.kProcessorPosition)
-			.alongWith(manipulator.runManipulator(() -> 0.85, false))
+			.alongWith(manipulator.runManipulator(() -> 0.5, false))
 			.until(() -> driver.a().getAsBoolean())
 		);
 

src/main/java/frc/robot/constants/IndexerConstants.java

@@ -9,7 +9,7 @@ public class IndexerConstants {
     public static final SparkMaxConfig motorConfig = new SparkMaxConfig();
     
     static{
-        motorConfig.smartCurrentLimit(40)
+        motorConfig.smartCurrentLimit(30)
-        .idleMode(IdleMode.kCoast);
+        .idleMode(IdleMode.kBrake);
     };
 }

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

@@ -1,32 +0,0 @@
-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());
-        });
-    }
-}

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

@@ -10,11 +10,14 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.IndexerConstants;
 import frc.robot.constants.ManipulatorConstants;
 
 public class Manipulator extends SubsystemBase {
     private SparkMax manipulatorMotor;
 
+    private SparkMax indexerMotor;
+
     private DigitalInput coralBeamBreak;
 
     public Manipulator() {
@@ -29,6 +32,17 @@ public class Manipulator extends SubsystemBase {
             PersistMode.kPersistParameters
         );
 
+        indexerMotor = new SparkMax(
+            IndexerConstants.kIndexerMotorID,
+            MotorType.kBrushless
+        );
+
+        indexerMotor.configure(
+            IndexerConstants.motorConfig,
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
         coralBeamBreak = new DigitalInput(ManipulatorConstants.kCoralBeamBreakID);
     }
 
@@ -56,6 +70,8 @@ public class Manipulator extends SubsystemBase {
             manipulatorMotor.set(
                 coral ? speed.getAsDouble() : speed.getAsDouble() * -1
             );
+
+            indexerMotor.set(0);
         });
     }
 
@@ -71,6 +87,9 @@ public class Manipulator extends SubsystemBase {
             manipulatorMotor.set(
                 speed.getAsDouble()
             );
+
+            indexerMotor.set(1);
+
         }).unless(() -> !coralBeamBreak.get())
         .until(() -> !coralBeamBreak.get());
         /*
@@ -90,6 +109,8 @@ public class Manipulator extends SubsystemBase {
     public Command retractCommand(DoubleSupplier retractSpeed){
         return run(() -> {
             manipulatorMotor.set(-retractSpeed.getAsDouble());
+
+            indexerMotor.set(0);
         }
         ).until(() -> coralBeamBreak.get());
     }