From 030a9b9773c1fa01cac8262e593a92dce7bb96a9 Mon Sep 17 00:00:00 2001
From: Cayden <caydenwb10@gmail.com>
Date: Thu, 24 Oct 2024 14:42:01 -0400
Subject: [PATCH] Added notes for flicker

---
 .../robot/constants/DrivetrainConstants.java  |  2 +-
 .../frc/robot/constants/FlickerConstants.java |  7 +++
 .../frc/robot/constants/ShooterConstants.java |  6 +++
 .../java/frc/robot/subsystems/Drivetrain.java |  3 --
 .../java/frc/robot/subsystems/Flicker.java    | 43 +++++++++++++++++++
 .../java/frc/robot/subsystems/Shooter.java    | 30 +++++++++++++
 6 files changed, 87 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/constants/DrivetrainConstants.java b/src/main/java/frc/robot/constants/DrivetrainConstants.java
index a17f768..4604d9c 100644
--- a/src/main/java/frc/robot/constants/DrivetrainConstants.java
+++ b/src/main/java/frc/robot/constants/DrivetrainConstants.java
@@ -6,4 +6,4 @@ public class DrivetrainConstants {
    public static final int kRightfrontPWM = 2;
    public static final int kRightRearPWM = 3;
 
-}
+} 
diff --git a/src/main/java/frc/robot/constants/FlickerConstants.java b/src/main/java/frc/robot/constants/FlickerConstants.java
index e69de29..73f819c 100644
--- a/src/main/java/frc/robot/constants/FlickerConstants.java
+++ b/src/main/java/frc/robot/constants/FlickerConstants.java
@@ -0,0 +1,7 @@
+package frc.robot.constants;
+
+public class FlickerConstants {
+    public static final int K3motorPWM = 1;
+    
+    public static int Photoswitch = 1;
+}
diff --git a/src/main/java/frc/robot/constants/ShooterConstants.java b/src/main/java/frc/robot/constants/ShooterConstants.java
index e69de29..c0a95de 100644
--- a/src/main/java/frc/robot/constants/ShooterConstants.java
+++ b/src/main/java/frc/robot/constants/ShooterConstants.java
@@ -0,0 +1,6 @@
+package frc.robot.constants;
+
+public class ShooterConstants {
+    public static final int K1motorPWM = 0;
+    public static final int K2motorPWM = 0;
+}
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index b4fd249..578fd4f 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -2,10 +2,7 @@ package frc.robot.subsystems;
 
 import java.util.function.DoubleSupplier;
 
-import com.fasterxml.jackson.databind.ser.std.NumberSerializers.DoubleSerializer;
-
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.motorcontrol.Victor;
 import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
diff --git a/src/main/java/frc/robot/subsystems/Flicker.java b/src/main/java/frc/robot/subsystems/Flicker.java
index e69de29..2705432 100644
--- a/src/main/java/frc/robot/subsystems/Flicker.java
+++ b/src/main/java/frc/robot/subsystems/Flicker.java
@@ -0,0 +1,43 @@
+package frc.robot.subsystems;
+
+
+import java.util.function.DoubleSupplier;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.constants.FlickerConstants;
+
+public class Flicker extends SubsystemBase {
+    private VictorSP motor;
+
+    private DigitalInput photoswitch;
+
+    public Flicker() {
+        motor = new VictorSP(FlickerConstants.K3motorPWM);
+
+        photoswitch = new DigitalInput(FlickerConstants.Photoswitch);
+    
+    } //sets motors and the photo switch
+
+    public boolean photoswich() {
+        return photoswitch.get();
+    } //makes the photoswitch useable for the if statment
+      //so the code will know if the photoswitch was blocked.
+    public Command setSpeed(DoubleSupplier speed){
+        return run(() -> {
+
+        if (photoswitch.get()) {
+                motor.set(speed.getAsDouble());
+            } else { 
+                motor.set(0);
+            }
+            //makes it so the motor will run but if the photoswitch can't see the frisby it will stop.
+        });
+        
+    }
+
+    public Command stop() {
+        return setSpeed(() -> 0);
+    } // stops the motor manually.
+}
diff --git a/src/main/java/frc/robot/subsystems/Shooter.java b/src/main/java/frc/robot/subsystems/Shooter.java
index e69de29..79bf08b 100644
--- a/src/main/java/frc/robot/subsystems/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/Shooter.java
@@ -0,0 +1,30 @@
+package frc.robot.subsystems;
+
+import java.util.function.DoubleSupplier;
+
+import edu.wpi.first.wpilibj.motorcontrol.VictorSP;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.constants.ShooterConstants;
+
+public class Shooter extends SubsystemBase{
+    private VictorSP motor1;
+    private VictorSP motor2; //makes the motors varables
+
+    public Shooter() {
+        motor1 = new VictorSP(ShooterConstants.K1motorPWM);
+        motor2 = new VictorSP(ShooterConstants.K2motorPWM);
+    
+        motor1.addFollower(motor2); //sets motors
+    }
+
+    public Command setSpeed(DoubleSupplier speed) {
+    return run(() -> {
+        motor1.set(speed.getAsDouble());
+    });    //sets the motors speed
+}
+    public Command stop() {
+        return setSpeed(() -> 0);
+    }
+} //stops the motors
+