Merge branch 'main' into photonvision_as_a_resource

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

@@ -4,29 +4,44 @@ import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 public class SpindexerConstants {
     // TODO Real values
-    public static final int kMotorCANID = 0;
+    public static final int kSpindexerMotorCANID = 0;
+    public static final int kFeederMotorCANID = 0;
 
-    public static final int kStatorCurrentLimit = 80;
-    public static final int kSupplyCurrentLimit = 30;
+    public static final int kSpindexerStatorCurrentLimit = 80;
+    public static final int kSpindexerSupplyCurrentLimit = 30;
+    public static final int kFeederCurrentLimit = 30;
 
-    public static final InvertedValue kInversionState = InvertedValue.Clockwise_Positive;
-    public static final NeutralModeValue kIdleMode = NeutralModeValue.Brake;
+    public static final boolean kFeederMotorInverted = false;
+
+    public static final InvertedValue kSpindexerInversionState = InvertedValue.Clockwise_Positive;
+    public static final NeutralModeValue kSpindexerIdleMode = NeutralModeValue.Brake;
+
+    public static final IdleMode kFeederIdleMode = IdleMode.kBrake;
 
     // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
 
-    public static final CurrentLimitsConfigs kCurrentLimitConfig = new CurrentLimitsConfigs();
-    public static final MotorOutputConfigs kMotorConfig = new MotorOutputConfigs();
+    public static final SparkMaxConfig kFeederConfig = new SparkMaxConfig();
+
+    public static final CurrentLimitsConfigs kSpindexerCurrentLimitConfig = new CurrentLimitsConfigs();
+    public static final MotorOutputConfigs kSpindexerMotorConfig = new MotorOutputConfigs();
     
     static {
-        kCurrentLimitConfig.StatorCurrentLimitEnable = true;
-        kCurrentLimitConfig.SupplyCurrentLimitEnable = true;
-        kCurrentLimitConfig.StatorCurrentLimit = kStatorCurrentLimit;
-        kCurrentLimitConfig.SupplyCurrentLimit = kSupplyCurrentLimit;
+        kSpindexerCurrentLimitConfig.StatorCurrentLimitEnable = true;
+        kSpindexerCurrentLimitConfig.SupplyCurrentLimitEnable = true;
+        kSpindexerCurrentLimitConfig.StatorCurrentLimit = kSpindexerStatorCurrentLimit;
+        kSpindexerCurrentLimitConfig.SupplyCurrentLimit = kSpindexerSupplyCurrentLimit;
 
-        kMotorConfig.Inverted = kInversionState;
-        kMotorConfig.NeutralMode = kIdleMode;
+        kSpindexerMotorConfig.Inverted = kSpindexerInversionState;
+        kSpindexerMotorConfig.NeutralMode = kSpindexerIdleMode;
+
+        kFeederConfig
+            .inverted(kFeederMotorInverted)
+            .smartCurrentLimit(kFeederCurrentLimit)
+            .idleMode(kFeederIdleMode);
     }
 }

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

@@ -2,40 +2,57 @@ package frc.robot.subsystems;
 
 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.SpindexerConstants;
 
 public class Spindexer extends SubsystemBase {
-    private TalonFX motor;
+    private TalonFX spindexerMotor;
 
-    private DutyCycleOut motorOutput;
+    private SparkMax feederMotor;
+
+    private DutyCycleOut spindexerMotorOutput;
 
     public Spindexer() {
-        motor = new TalonFX(SpindexerConstants.kMotorCANID);
+        spindexerMotor = new TalonFX(SpindexerConstants.kSpindexerMotorCANID);
 
-        motor.getConfigurator().apply(SpindexerConstants.kCurrentLimitConfig);
-        motor.getConfigurator().apply(SpindexerConstants.kMotorConfig);
+        feederMotor = new SparkMax(SpindexerConstants.kFeederMotorCANID, MotorType.kBrushless);
 
-        motorOutput = new DutyCycleOut(0);
+        spindexerMotor.getConfigurator().apply(SpindexerConstants.kSpindexerCurrentLimitConfig);
+        spindexerMotor.getConfigurator().apply(SpindexerConstants.kSpindexerMotorConfig);
+
+        feederMotor.configure(
+            SpindexerConstants.kFeederConfig, 
+            ResetMode.kResetSafeParameters, 
+            PersistMode.kPersistParameters
+        );
+
+        spindexerMotorOutput = new DutyCycleOut(0);
     }
 
     public Command spinToShooter() {
         return run(() -> {
-            motor.setControl(motorOutput.withOutput(1));
+            spindexerMotor.setControl(spindexerMotorOutput.withOutput(1));
+            feederMotor.set(1);
         });
     }
 
     public Command spinToIntake() {
         return run(() -> {
-            motor.setControl(motorOutput.withOutput(-1));
+            spindexerMotor.setControl(spindexerMotorOutput.withOutput(-1));
+            feederMotor.set(-1);
         });
     }
 
     public Command stop() {
         return run(() -> {
-            motor.setControl(motorOutput.withOutput(0));
+            spindexerMotor.setControl(spindexerMotorOutput.withOutput(0));
+            feederMotor.set(0);
         });
     }