Adding everything necessary for the RollerIndexer, while all the Spindexer stuff intact

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

@@ -32,6 +32,8 @@ import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.PrintCommand;
+import edu.wpi.first.wpilibj2.command.Subsystem;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import edu.wpi.first.wpilibj2.command.button.RobotModeTriggers;
 import edu.wpi.first.wpilibj2.command.button.Trigger;
@@ -42,12 +44,14 @@ import frc.robot.constants.OIConstants;
 import frc.robot.constants.ShooterConstants;
 import frc.robot.constants.IntakePivotConstants.IntakePivotPosition;
 import frc.robot.constants.ShooterConstants.ShooterSpeeds;
+import frc.robot.interfaces.IIndexer;
 import frc.robot.subsystems.Climber;
 import frc.robot.subsystems.Drivetrain;
 import frc.robot.subsystems.Hood;
 import frc.robot.subsystems.IntakePivot;
 import frc.robot.subsystems.IntakeRoller;
 import frc.robot.subsystems.PhotonVision;
+import frc.robot.subsystems.RollerIndexer;
 import frc.robot.subsystems.Shooter;
 import frc.robot.subsystems.Spindexer;
 import frc.robot.utilities.Elastic;
@@ -60,7 +64,7 @@ public class RobotContainer {
     private Shooter shooter;
     private IntakePivot intakePivot;
     private IntakeRoller intakeRoller;
-    private Spindexer spindexer;
+    private IIndexer indexer;
     //private Climber climber;
 
     private CommandXboxController driver;
@@ -79,7 +83,7 @@ public class RobotContainer {
         shooter = new Shooter();
         intakePivot = new IntakePivot();
         intakeRoller = new IntakeRoller();
-        spindexer = new Spindexer();
+        indexer = new RollerIndexer();
         //climber = new Climber();
         configureNamedCommands();
 
@@ -184,7 +188,7 @@ public class RobotContainer {
         intakePivot.setDefaultCommand(intakePivot.stop());
         intakeRoller.setDefaultCommand(intakeRoller.stop());
         hood.setDefaultCommand(hood.stop());
-        spindexer.setDefaultCommand(spindexer.stop());
+        ((SubsystemBase)indexer).setDefaultCommand(indexer.stop());
         //climber.setDefaultCommand(climber.stop());
 
         // While holding POV up of the driver controller, the climber
@@ -198,23 +202,23 @@ public class RobotContainer {
         //}));
 
         // While holding the right bumper of the driver controller, the intake rollers
-        // and the spindexer and feeder should move such that all motors are moving in such a way
+        // and the indexer and feeder should move such that all motors are moving in such a way
-        // that it would draw balls from the floor, through the spindexer, and into the
+        // that it would draw balls from the floor, through the indexer, and into the
         // feeder. 
         // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
         // constants file for the subsystem having the problem
         driver.rightBumper().whileTrue(
-            spindexer.spinToShooter()  
+            indexer.spinToShooter()  
         );
 
         // While holding the left bumper of the driver controller, the intake rollers
-        // and the spindexer and feeder should move such that all motors are moving in such a way
+        // and the indexer and feeder should move such that all motors are moving in such a way
         // that it would try to eject balls through the intake.
         // DO NOT INVERT MOTION WITH UNARY MINUS (-). Every motor can be inverted from the 
         // constants file for the subsystem having the problem
         driver.leftBumper().whileTrue(
             intakeRoller.runIn()
-            //intakeRoller.runOut().alongWith(spindexer.spinToIntake())
+            //intakeRoller.runOut().alongWith(indexer.spinToIntake())
         );
 
         // While holding D-Pad up on the secondary controller, the shooter should spin
@@ -281,7 +285,7 @@ public class RobotContainer {
         );
         shooter.setDefaultCommand(shooter.stop());
         intakeRoller.setDefaultCommand(intakeRoller.stop());
-        spindexer.setDefaultCommand(spindexer.stop());
+        ((SubsystemBase)indexer).setDefaultCommand(indexer.stop());
 
         intakePivot.setDefaultCommand(intakePivot.manualSpeed(() -> secondary.getLeftY()));
 
@@ -303,7 +307,7 @@ public class RobotContainer {
         driver.rightBumper().whileTrue(intakeRoller.runIn());
 
         driver.rightTrigger().whileTrue(
-            spindexer.spinToShooter(shooter::getAverageActualSpeeds, 2000).alongWith(
+            indexer.spinToShooter(shooter::getAverageActualSpeeds, 2000).alongWith(
                 intakeRoller.runIn()/* ,
                 intakePivot.jimmy(.5)*/
             )
@@ -318,7 +322,7 @@ public class RobotContainer {
             intakePivot.manualSpeed(() -> 0.75).withTimeout(0.5)
         );
 
-        driver.b().whileTrue(spindexer.spinToIntake());
+        driver.b().whileTrue(indexer.spinToIntake());
        /*  driver.b().whileTrue(
             drivetrain.lockToYaw(
                 () -> {
@@ -412,10 +416,10 @@ public class RobotContainer {
                 .withTimeout(2));
 
         NamedCommands.registerCommand("shoot close", 
-            spindexer.spinToShooter()
+            indexer.spinToShooter()
                 .alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed))
                 .alongWith(hood.trackToAngle(() -> Units.degreesToRadians(10)))
-                .withTimeout(3).andThen(spindexer.instantaneousStop()));
+                .withTimeout(3).andThen(indexer.instantaneousStop()));
         
        // NamedCommands.registerCommand("Intake Start", intakeRoller.runIn());
 
@@ -427,7 +431,7 @@ public class RobotContainer {
             .onTrue(
                 shooter.maintainSpeed(ShooterSpeeds.kHubSpeed));
 
-        NamedCommands.registerCommand("stop spindexer", spindexer.instantaneousStop());
+        NamedCommands.registerCommand("stop spindexer", indexer.instantaneousStop());
 
         NamedCommands.registerCommand("jimmy",
             intakePivot.jimmy(0.2)
@@ -436,11 +440,11 @@ public class RobotContainer {
         NamedCommands.registerCommand("shoot N jimmy", 
             Commands.parallel(
                 intakePivot.jimmy(0.5),
-                spindexer.spinToShooter()
+                indexer.spinToShooter()
                     .alongWith(shooter.maintainSpeed(ShooterSpeeds.kHubSpeed),
                                hood.trackToAngle(() -> Units.degreesToRadians(10)))
                 
-            ).withTimeout(3).andThen(spindexer.instantaneousStop()));
+            ).withTimeout(3).andThen(indexer.instantaneousStop()));
 
         NamedCommands.registerCommand("aim", 
             hood.trackToAnglePoseBased(drivetrain, shooter)
@@ -454,7 +458,7 @@ public class RobotContainer {
             hood.trackToAnglePoseBased(drivetrain, shooter)
                 .alongWith(
                     shooter.maintainSpeed(ShooterSpeeds.kHubSpeed), 
-                    spindexer.spinToShooter(), 
+                    indexer.spinToShooter(), 
                     intakePivot.jimmy(0.5),
                     drivetrain.lockRotationToHub(() -> 0.0, () -> 0.0, false)));
     }

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

@@ -0,0 +1,28 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+public class RollerIndexerConstants {
+    public static final int kMotor1CANID = -1;
+    public static final int kMotor2CANID = 4;
+
+    public static final int kCurrentLimit = 30;
+
+    public static final double kMotorSpeed = 1;
+
+    public static final boolean kMotorInverted = false;
+
+    public static final IdleMode kIdleMode = IdleMode.kBrake;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+
+    public static final SparkMaxConfig kMotorConfig = new SparkMaxConfig();
+    
+    static {
+        kMotorConfig
+            .inverted(kMotorInverted)
+            .smartCurrentLimit(kCurrentLimit)
+            .idleMode(kIdleMode);
+    }
+}

src/main/java/frc/robot/interfaces/IIndexer.java

@@ -0,0 +1,13 @@
+package frc.robot.interfaces;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public interface IIndexer {
+    public Command spinToShooter();
+    public Command spinToShooter(DoubleSupplier shooterSpeedRPM, double cutOffRPM);
+    public Command spinToIntake();
+    public Command stop();
+    public Command instantaneousStop();
+}

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

@@ -0,0 +1,79 @@
+package frc.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import com.ctre.phoenix6.controls.DutyCycleOut;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.RollerIndexerConstants;
+import frc.robot.constants.SpindexerConstants;
+import frc.robot.interfaces.IIndexer;
+
+public class RollerIndexer extends SubsystemBase implements IIndexer {
+    private SparkMax motor1;
+    private SparkMax motor2;
+
+    public RollerIndexer() {
+        motor1 = new SparkMax(RollerIndexerConstants.kMotor1CANID, MotorType.kBrushless);
+        motor2 = new SparkMax(RollerIndexerConstants.kMotor2CANID, MotorType.kBrushless);
+
+        motor1.configure(
+            SpindexerConstants.kFeederConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        motor2.configure(
+            SpindexerConstants.kFeederConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+    }
+
+    public Command spinToShooter() {
+        return run(() -> {
+            motor1.set(RollerIndexerConstants.kMotorSpeed);
+            motor2.set(-RollerIndexerConstants.kMotorSpeed);
+        });
+    }
+
+    public Command spinToShooter(DoubleSupplier shooterSpeedRPM, double cutOffRPM) {
+        return run(() -> {
+            if(shooterSpeedRPM.getAsDouble() < cutOffRPM) {
+                motor1.set(0);
+                motor2.set(0);
+            } else {
+                motor1.set(RollerIndexerConstants.kMotorSpeed);
+                motor2.set(-RollerIndexerConstants.kMotorSpeed);
+            }
+        });
+    }
+
+    public Command spinToIntake() {
+        return run(() -> {
+            motor1.set(-RollerIndexerConstants.kMotorSpeed);
+            motor2.set(RollerIndexerConstants.kMotorSpeed);
+        });
+    }
+
+    public Command stop() {
+        return run(() -> {
+            motor1.set(0);
+            motor2.set(0);
+        });
+    }
+
+    public Command instantaneousStop() {
+        return runOnce(() -> {
+            motor1.set(0);
+            motor2.set(0);
+        });
+    }
+    
+}

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

@@ -12,8 +12,9 @@ import com.revrobotics.spark.SparkLowLevel.MotorType;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.SpindexerConstants;
+import frc.robot.interfaces.IIndexer;
 
-public class Spindexer extends SubsystemBase {
+public class Spindexer extends SubsystemBase implements IIndexer {
     private TalonFX spindexerMotor;
 
     private SparkMax feederMotor;