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Coded Shooter.java

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This commit is contained in:
Cayden Brackett 2024-12-20 15:59:22 -05:00
parent 25e22842ff
commit ec44dd2d27
3 changed files with 43 additions and 2 deletions
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6
src/main/java/frc/robot/constants/ShooterConstants.java Normal file
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@ -0,0 +1,6 @@
package frc.robot.constants;
public class ShooterConstants {
public static final int K1MotorPWM = 0;
public static final int K2MotorPWM = 0;
}

7
src/main/java/frc/robot/subsystems/Drivetrain.java
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@ -5,6 +5,7 @@ import java.util.function.DoubleSupplier;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType; import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.Encoder;
import edu.wpi.first.wpilibj.drive.DifferentialDrive; import edu.wpi.first.wpilibj.drive.DifferentialDrive;
import edu.wpi.first.wpilibj.motorcontrol.MotorController; import edu.wpi.first.wpilibj.motorcontrol.MotorController;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
@ -16,7 +17,8 @@ public class Drivetrain extends SubsystemBase{
private MotorController rightFront; private MotorController rightFront;
private MotorController rightRear; private MotorController rightRear;
private DifferentialDrive drive; private DifferentialDrive drive;;
private Drivetrain() { private Drivetrain() {
leftFront = new CANSparkMax(DrivetrainConstants.kLeftFrontID, MotorType.kBrushless); leftFront = new CANSparkMax(DrivetrainConstants.kLeftFrontID, MotorType.kBrushless);
@ -29,7 +31,8 @@ public class Drivetrain extends SubsystemBase{
rightFront.setInverted(true); rightFront.setInverted(true);
drive = new DifferentialDrive(leftFront, rightFront); drive = new DifferentialDrive(leftFront, rightFront);
Encoder Encoder = new Encoder(0,1);
} }
public Command driveArcade(DoubleSupplier xSpeed, DoubleSupplier zRotation) { public Command driveArcade(DoubleSupplier xSpeed, DoubleSupplier zRotation) {
return run (() -> { return run (() -> {

32
src/main/java/frc/robot/subsystems/Shooter.java Normal file
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@ -0,0 +1,32 @@
package frc.robot.subsystems;
import java.util.function.DoubleSupplier;
import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
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 WPI_VictorSPX motor1;
private WPI_VictorSPX motor2;
public Shooter() {
motor1 = new WPI_VictorSPX(ShooterConstants.K1MotorPWM);
motor2 = new WPI_VictorSPX(ShooterConstants.K2MotorPWM);
motor1.follow(motor2);
}
public Command setSpeed(DoubleSupplier speed) {
//sets the motors speed
return run(() -> {
motor1.set(speed.getAsDouble());
});
}
public Command stop() {
//stops the motors
return setSpeed(() -> 0);
}
}