Basic ShooterIOSparkMax (#10)

* added ShooterIOSparkMax * spotless Apply * updated gear ratio * added ShooterIOSparkMax as io for tankBot * Added Comments * Spotless Apply --------- Co-authored-by: Nilesh Agarwalla <[email protected]>
DevilBotz2876 · Jan 20, 2024 · bb4cc32 · bb4cc32
1 parent f58f702
commit bb4cc32
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Showing 3 changed files with 117 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -14,6 +14,7 @@
 import frc.robot.subsystems.intake.IntakeBase;
 import frc.robot.subsystems.intake.IntakeIOSim;
 import frc.robot.subsystems.shooter.ShooterIOSim;
+import frc.robot.subsystems.shooter.ShooterIOSparkMax;
 import frc.robot.subsystems.shooter.ShooterSubsystem;
 
 public class RobotContainer {
@@ -25,13 +26,13 @@ public RobotContainer() {
     controller = new CommandXboxController(0);
 
     boolean swerveBot = false;
-    boolean tankBot = false;
+    boolean tankBot = true;
 
     if (swerveBot) {
       shooter = null;
       intake = null;
     } else if (tankBot) {
-      shooter = null;
+      shooter = new ShooterSubsystem(new ShooterIOSparkMax());
       intake = null;
     } else {
       shooter = new ShooterSubsystem(new ShooterIOSim());

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkMax.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkMax.java
@@ -0,0 +1,40 @@
+package frc.robot.subsystems.shooter;
+
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import edu.wpi.first.math.util.Units;
+
+public class ShooterIOSparkMax implements ShooterIO {
+  // Gear ratio for the shooter mechanism
+  private static final double GEAR_RATIO = 5.0;
+
+  // define the 2 SparkMax Controllers. A leader, and a follower
+  private final CANSparkMax leader = new CANSparkMax(0, MotorType.kBrushless);
+  private final CANSparkMax follower = new CANSparkMax(1, MotorType.kBrushless);
+
+  // Gets the NEO encoder
+  private final RelativeEncoder encoder = leader.getEncoder();
+
+  public ShooterIOSparkMax() {
+    // leader motor is not inverted, and set follower motor to follow the leader
+    leader.setInverted(false);
+    follower.follow(leader, false);
+  }
+
+  @Override
+  public void updateInputs(ShooterIOInputs inputs) {
+    // Set velocityRadPerSec to the encoder velocity(rotationsPerMinute) divided by the gear ratio
+    // and converted into Radians Per Second
+    inputs.velocityRadPerSec =
+        Units.rotationsPerMinuteToRadiansPerSecond(encoder.getVelocity() / GEAR_RATIO);
+    // Get applied voltage from the leader motor
+    inputs.appliedVolts = leader.getAppliedOutput() * leader.getBusVoltage();
+  }
+
+  @Override
+  public void setVoltage(double volts) {
+    // Set the voltage output for the leader motor
+    leader.setVoltage(volts);
+  }
+}
diff --git a/vendordeps/REVLib.json b/vendordeps/REVLib.json
@@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.0",
+    "frcYear": "2024",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2024.2.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.0",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.0",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.0",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}