GizmoSimple Demo

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

@@ -4,15 +4,29 @@
 
 package frc.robot;
 
+import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.commands.gizmo.GizmoCommand;
+import frc.robot.subsystems.gizmo.GizmoSimple;
 
 public class RobotContainer {
+  private static final XboxController controller = new XboxController(0);
+  private static final GizmoSimple gizmo = new GizmoSimple();
+
   public RobotContainer() {
     configureBindings();
   }
 
-  private void configureBindings() {}
+  private void configureBindings() {
+    gizmo.setDefaultCommand(
+        new GizmoCommand(
+            gizmo,
+            () -> controller.getPOV() == 270,
+            () -> controller.getPOV() == 90,
+            () -> controller.getLeftBumper(),
+            () -> controller.getRightBumper()));
+  }
 
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");

src/main/java/frc/robot/commands/gizmo/GizmoCommand.java

@@ -0,0 +1,64 @@
+package frc.robot.commands.gizmo;
+
+import edu.wpi.first.wpilibj.RobotController;
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.gizmo.GizmoSimple;
+import java.util.function.BooleanSupplier;
+
+public class GizmoCommand extends Command {
+  private GizmoSimple gizmo;
+  private BooleanSupplier decreaseSpeed;
+  private BooleanSupplier increaseSpeed;
+  private BooleanSupplier runBackward;
+  private BooleanSupplier runForward;
+  private double currentSpeed = 0.0;
+  private double minSpeed = 0.0;
+  private double maxSpeed = 1.0;
+  private double speedIncrement = 0.01;
+
+  public GizmoCommand(
+      GizmoSimple gizmo,
+      BooleanSupplier decreaseSpeed,
+      BooleanSupplier increaseSpeed,
+      BooleanSupplier runBackward,
+      BooleanSupplier runForward) {
+    this.gizmo = gizmo;
+    this.decreaseSpeed = decreaseSpeed;
+    this.increaseSpeed = increaseSpeed;
+    this.runBackward = runBackward;
+    this.runForward = runForward;
+
+    addRequirements(gizmo);
+  }
+
+  public void execute() {
+
+    /* Check if speed needs to be changed */
+    if (decreaseSpeed.getAsBoolean()) {
+      if (currentSpeed >= speedIncrement) {
+        currentSpeed -= speedIncrement;
+      } else {
+        currentSpeed = minSpeed;
+      }
+    } else if (increaseSpeed.getAsBoolean()) {
+      if (currentSpeed <= (maxSpeed - speedIncrement)) {
+        currentSpeed += speedIncrement;
+      } else {
+        currentSpeed = maxSpeed;
+      }
+    }
+
+    /* Check if motor needs to be turned on */
+    if (runForward.getAsBoolean()) {
+      gizmo.setVoltage(currentSpeed * RobotController.getBatteryVoltage());
+    } else if (runBackward.getAsBoolean()) {
+      gizmo.setVoltage(-currentSpeed * RobotController.getBatteryVoltage());
+    } else {
+      gizmo.setVoltage(0);
+    }
+  }
+
+  public void end(boolean interrupted) {
+    gizmo.setVoltage(0);
+  }
+}

src/main/java/frc/robot/subsystems/gizmo/Gizmo.java

@@ -0,0 +1,11 @@
+package frc.robot.subsystems.gizmo;
+
+public interface Gizmo {
+  /* Open Loop Controls */
+  /**
+   * Sets open loop voltage to send to motor
+   *
+   * @param volts voltage to send to the motor Typically in the range [-12.0..12.0]
+   */
+  public void setVoltage(double volts);
+}

src/main/java/frc/robot/subsystems/gizmo/GizmoSimple.java

@@ -1,8 +1,17 @@
 package frc.robot.subsystems.gizmo;
 
+import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.AutoLogOutput;
 
-public class GizmoSimple extends SubsystemBase {
-
-
+public class GizmoSimple extends SubsystemBase implements Gizmo {
+  /** Spark PWM Motor is connected to RIO PWM Port 0 */
+  private static final Spark motor = new Spark(0);
+  @AutoLogOutput private double volts = 0;
+
+  /* Control */
+  public void setVoltage(double volts) {
+    this.volts = volts;
+    motor.setVoltage(volts);
+  }
 }