added ShooterIOSparkMax

DevilBotz2876 · Jan 20, 2024 · dffa504 · dffa504
1 parent cb425ba
commit dffa504
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diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkMax.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkMax.java
@@ -0,0 +1,32 @@
+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 {
+  private static final double GEAR_RATIO = 1.5;
+
+  private final CANSparkMax leader = new CANSparkMax(0, MotorType.kBrushless);
+  private final CANSparkMax follower = new CANSparkMax(1, MotorType.kBrushless);
+  private final RelativeEncoder encoder = leader.getEncoder();
+
+  public ShooterIOSparkMax() {
+    leader.setInverted(false);
+    follower.follow(leader, false);
+  }
+
+  @Override
+  public void updateInputs(ShooterIOInputs inputs) {
+    inputs.velocityRadPerSec = 
+        Units.rotationsPerMinuteToRadiansPerSecond(encoder.getVelocity() / GEAR_RATIO);
+    inputs.appliedVolts = leader.getAppliedOutput() * leader.getBusVoltage();
+  }
+
+  @Override
+  public void setVoltage(double volts) {
+    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"
+            ]
+        }
+    ]
+}